UAVCAN ESC: add min and max parameters for ESC raw commands

[bresch]

This adds the possibility to define the min and max UAVCAN RAW values the autopilot sends to the ESCs in order to avoid early saturation of the ESCs leading to instability at high and low thrust.

To be intuitive to set, the parameters are factors (between 0 and 1) of the max raw value message:
e.g: setting UAVCAN_ESC_MAX to 0.9 maps full thrust to 90% of the
maximum raw value message

Here is a representation of the scaling where:
s_min = UAVCAN_ESC_MIN
s_max = UAVCAN_ESC_MAX
m = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max()
https://www.desmos.com/calculator/piocnsvfpb

[dagar]

This seems fine, although it might conflict with #13254. In this case it might be helpful to rebase on #13254 and get some combined testing.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[dagar]

Still wanted?

[bresch]

@dagar this isn't a priority but I'll still do it now that the refactor is merged.

[RicardoM17]

@bresch We could test this for you. I had a look to see if I could rebase it myself but it looks like there was quite a big change on the esc.hpp and uavcan_main.cpp files so not sure if it's that simple. Do you have an ETA on this?

[bresch]

Waiting for UAVCAN v1

[fabrizioschiano]

@bresch , are you planning to merge this into master at some point or it has been dropped?

[bresch]

@fabrizioschiano It has been dropped because UAVCAN v1 should come out "soon" and will hopefully handle that. If you need it in the mean time, feel free to revive this PR.

[fabrizioschiano]

@bresch, thanks for the quick reply! Do you know when this should happen or could you point me towards a link where this will be updated?

[bresch]

Probably #14865