An ESC bus driver reported at start-up
What ArduPilot says:
- FTW using Half-Duplex
- KDECAN: Found ESC id N mapped to SERVON
- FTW using Full-Duplex
- FETtec: allocated N motors
Good news from ESC drivers that talk over a bus instead of one signal wire per motor. “FETtec: allocated n motors”: the FETtec OneWire driver found its serial port and will drive the n outputs set in SERVO_FTW_MASK. “FTW using Half-Duplex” or “Full-Duplex”: how it talks on that port, following the port's half-duplex option (bit 2 of SERIALn_OPTIONS); half-duplex shares one wire for both directions. “KDECAN: Found ESC id n mapped to SERVOm”: a KDE CAN ESC answered, and its id decides the output it follows: id 2 is output 1, id 3 output 2.
Parameters to look at
| Parameter | What it is |
|---|---|
SERVO_FTW_MASK | Servo channel output bitmask |
SERIAL1_OPTIONS | Telem1 options |
SERIAL2_OPTIONS | Telem2 options |
CAN_D1_PROTOCOL | Enable use of specific protocol over virtual driver |
The code that sends it
FTW using Half-Duplex
libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp AP_FETtecOneWire::init_uart() · Open in ArduPilot Copter-4.7.1
KDECAN: Found ESC id N mapped to SERVON
libraries/AP_KDECAN/AP_KDECAN.cpp AP_KDECAN_Driver::handle_frame() · Open in ArduPilot Copter-4.7.1
FTW using Full-Duplex
libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp AP_FETtecOneWire::init_uart() · Open in ArduPilot Copter-4.7.1
FETtec: allocated N motors
libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp AP_FETtecOneWire::init() · Open in ArduPilot Copter-4.7.1