esc_calibration: document latest functionality #2599
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| 1. Disconnect the battery and connect the flight controller via USB (only). | ||
| 1. Map the ESCs you're calibrating as Motors in the vehicle's [Actuator Configuration](../config/actuators.md). Only mapped actuators get an output and hence only ESCs mapped as motors get calibrated. | ||
| 1. Unpower the ESCs by unplugging the battery but keep the flight controller powered and connected to the ground station best by plugging it via USB (only). |
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| 1. Unpower the ESCs by unplugging the battery but keep the flight controller powered and connected to the ground station best by plugging it via USB (only). | |
| 1. Unpower the ESCs by unplugging the battery. | |
| The flight controller should ideally still be powered via USB, and remain connected to the ground station. | |
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flight controller should ideally still be powered
Maybe that's already covered but the flight controller must stay powered. That's easiest (= ideal?) achieved with the classic pixhawk boards because they stay powered with USB only.
For e.g. Skynode USB alone is not enough, you need to keep the power module connected and so it's more tricky. I'm not sure but wouldn't be surprised if there are other setups that work this way. Hence it's also mentioned in the troubleshooting. Hopefully, I can improve the workflow for these cases.
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I've updated this particular case to directly reference Pixhawk and note that other systems might need another approach: a385119
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@hamishwillee You are absolutely genius! Thanks for looking over it so promptly. The feedback is spot-on and very helpful. I'll fix some things 🙏 |
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No worries - great to see this being tidied up. It makes a lot more sense now. I've done what I can so hands off until you tell me that you need something else, or the PR goes in and we can update the actuators images for the new defaults. |
For the 1.14 release because we already changed the actuator configuration and users will need to go through their setups I also corrected the PWM calibration and the default PWM values. See PX4/PX4-Autopilot#21711 and PX4/PX4-Autopilot#21513 This is the documentation change with it. And needs to be referenced by the release notes.
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@hamishwillee I rebased and went through everything again adding my suggestions and small corrections. |
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| [DShot](../peripherals/dshot.md) and [DroneCAN](../dronecan/escs.md)/Cyphal ESCs do not require this configuration. | ||
| [DShot](../peripherals/dshot.md) ESCs do not require configuration of the command limits but only rotation direction. |
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@MaEtUgR So we still need to configure max/min/disarmed etc for CAN ESCs?
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Yes, because in the cases I've seen a rather generalized motor command message is used and each ESC model/configuration can map it differently. That's also why the option to configure the limit commands exists e.g. for DroneCAN: https://github.com/PX4/PX4-Autopilot/blob/39e04d971229f3ca0d1e080d55bf7ac2f7894562/src/drivers/uavcan/module.yaml#L15-L25
@MaEtUgR Thanks for sorting the details out. Merging redundant motor configuration parts can certainly wait, perhaps forever. Do you have any ETA on PX4/PX4-Autopilot#21513 being merged? |
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@hamishwillee Thank you so much for your help!
Not forever but not be blocking. The reason for my strategy of the 7th step is that if I was the reader the existing motor configuration is in the middle of a very long page. And I might miss it not knowing how important that step is. This can and should for sure be solved with a reference and merging the two motor configuration guides. PWM is the main example for the entire procedure anyways.
I would have merged it already but wanted to notify users about the change and make sure we can reference the updated documentation page on how to do things correctly now. So if this page is understandable I would move on, merge the change both in main and 1.14 and notify the people we reach with the documentation reference. |
The reason I say forever is the way I want to fix this in actuators page is to split it up for the various frames - it is just too big and intimidating, and what you need to know for MCs is a lot less than all of that. But doing so is a big job, so I am waiting to get courage. I don't mind the duplication at this level in the ESC page. But yes, better long term to have one source of instructions.
I think the page is understandable. I count myself as the "average uninformed user", so unless you want someone else to take a look, I am OK for it to be merged. |
I thought exactly that but wasn't sure about a good solution to that problem. What you suggest makes sense 👍
You are the best tech doc writer and reviewer I know. I think we can merge then. |
Am I the only tech writer you know? :-) Thanks for merging, and for making this whole area much more robust "out of the box". |
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No flaws found |
For the 1.14 release because we already changed the actuator configuration and users will need to go through their setups I also corrected the PWM calibration and the default PWM values.
See PX4/PX4-Autopilot#21711 and PX4/PX4-Autopilot#21513
This is the documentation change with it. And needs to be referenced by the release notes.