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

src/drivers/uavcan/actuators/esc.cpp

@@ -109,12 +109,14 @@ UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 	actuator_outputs_s actuator_outputs{};
 	actuator_outputs.noutputs = num_outputs;
 
-	static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
-	const float cmd_min = _run_at_idle_throttle_when_armed ? 1.0F : 0.0F;
+	const float max_raw_value = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
+	const float cmd_min = _run_at_idle_throttle_when_armed ? _raw_value_min_factor * max_raw_value : 0.0F;
+	const int cmd_max = _raw_value_max_factor * max_raw_value - cmd_min;
 
 	for (unsigned i = 0; i < num_outputs; i++) {
 		if (_armed_mask & MOTOR_BIT(i)) {
-			float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max;
+			const float delta_cmd = cmd_max - cmd_min;
+			float scaled = (outputs[i] + 1.0F) * 0.5F * delta_cmd + cmd_min;
 
 			// trim negative values back to minimum
 			if (scaled < cmd_min) {

src/drivers/uavcan/actuators/esc.hpp

@@ -67,6 +67,8 @@ class UavcanEscController
 	void arm_single_esc(int num, bool arm);
 
 	void enable_idle_throttle_when_armed(bool value) { _run_at_idle_throttle_when_armed = value; }
+	void set_esc_min_factor(float value) { _raw_value_min_factor = value; }
+	void set_esc_max_factor(float value) { _raw_value_max_factor = value; }
 
 	/**
 	 * Sets the number of rotors
@@ -102,6 +104,8 @@ class UavcanEscController
 
 	bool		_armed{false};
 	bool		_run_at_idle_throttle_when_armed{false};
+	float 		_raw_value_min_factor{0.0};
+	float 		_raw_value_max_factor{1.0};
 
 	esc_status_s	_esc_status{};
 

src/drivers/uavcan/uavcan_main.cpp

@@ -438,6 +438,22 @@ UavcanNode::update_params()
 	if (param_handle != PARAM_INVALID) {
 		param_get(param_handle, &_thr_mdl_factor);
 	}
+
+	param_handle = param_find("UAVCAN_ESC_MIN");
+
+	if (param_handle != PARAM_INVALID) {
+		float _esc_min_factor;
+		param_get(param_handle, &_esc_min_factor);
+		_esc_controller.set_esc_min_factor(_esc_min_factor);
+	}
+
+	param_handle = param_find("UAVCAN_ESC_MAX");
+
+	if (param_handle != PARAM_INVALID) {
+		float _esc_max_factor;
+		param_get(param_find("UAVCAN_ESC_MAX"), &_esc_max_factor);
+		_esc_controller.set_esc_max_factor(_esc_max_factor);
+	}
 }
 
 int

src/drivers/uavcan/uavcan_params.c

@@ -88,3 +88,25 @@ PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);
  * @group UAVCAN
  */
 PARAM_DEFINE_INT32(UAVCAN_ESC_IDLT, 1);
+
+/**
+ * UAVCAN ESC min RAW value factor
+ * Specifies the minimum RAW value of the UAVCAN ESC message
+ * as a function of the maximum value
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group UAVCAN
+ */
+PARAM_DEFINE_FLOAT(UAVCAN_ESC_MIN, 0.0);
+
+/**
+ * UAVCAN ESC max RAW value factor
+ * Specifies the maximum RAW value of the UAVCAN ESC message
+ * as a function of the maximum value
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group UAVCAN
+ */
+PARAM_DEFINE_FLOAT(UAVCAN_ESC_MAX, 1.0);