chore(vehicle templates): Added ESC-> FC Telemetry and improved consistency

Author: amilcarlucas

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/08_batt1.param

@@ -12,4 +12,4 @@ BATT_LOW_VOLT,79.2  # Low failsafe voltage x nr. of cells
 BATT_MONITOR,4  # Selected in component editor window
 BATT_VOLT_MULT,12.17
 MOT_BAT_VOLT_MAX,92.4  # Scale the PIDs up when battery voltage is below this threshold
-MOT_BAT_VOLT_MIN,78.1  # Scale the PIDs up when battery voltage is above this threshold
+MOT_BAT_VOLT_MIN,67.199  # Scale the PIDs up when battery voltage is above this threshold

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/vehicle_components.json

@@ -60,7 +60,7 @@
                 "Volt per cell arm": 3.9455,
                 "Volt per cell low": 3.6,
                 "Volt per cell crit": 3.55,
-                "Volt per cell min": 3.55,
+                "Volt per cell min": 3.0545,
                 "Number of cells": 22,
                 "Capacity mAh": 30000
             },
@@ -77,10 +77,14 @@
                 "Type": "",
                 "Version": ""
             },
-            "FC Connection": {
+            "FC->ESC Connection": {
                 "Type": "Main Out",
                 "Protocol": "Normal"
             },
+            "ESC->FC Telemetry": {
+                "Type": "None",
+                "Protocol": "None"
+            },
             "Notes": ""
         },
         "Motors": {
@@ -119,7 +123,7 @@
                 "Version": "1.13.2"
             },
             "FC Connection": {
-                "Type": "SERIAL3",
+                "Type": "CAN1",
                 "Protocol": "DroneCAN"
             },
             "Notes": "uBlox M8P GNSS with a patch antenna."

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/vehicle_components.json

@@ -77,10 +77,14 @@
                 "Type": "hobbywing",
                 "Version": ""
             },
-            "FC Connection": {
+            "FC->ESC Connection": {
                 "Type": "Main Out",
                 "Protocol": "Normal"
             },
+            "ESC->FC Telemetry": {
+                "Type": "None",
+                "Protocol": "None"
+            },
             "Notes": "ESCs are integrated in the motor arm sets"
         },
         "Motors": {

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/08_batt1.param

@@ -12,4 +12,4 @@ BATT_LOW_VOLT,21.6  # Low failsafe voltage x nr. of cells
 BATT_MONITOR,4  # Selected in component editor window
 BATT_VOLT_MULT,11  # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it
 MOT_BAT_VOLT_MAX,25.2  # Scale the PIDs up when battery voltage is below this threshold
-MOT_BAT_VOLT_MIN,21.3  # Scale the PIDs up when battery voltage is above this threshold
+MOT_BAT_VOLT_MIN,19.8  # Scale the PIDs up when battery voltage is above this threshold

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/vehicle_components.json

@@ -60,7 +60,7 @@
                 "Volt per cell arm": 3.9333,
                 "Volt per cell low": 3.6,
                 "Volt per cell crit": 3.55,
-                "Volt per cell min": 3.55,
+                "Volt per cell min": 3.3,
                 "Number of cells": 6,
                 "Capacity mAh": 3000
             },
@@ -77,10 +77,14 @@
                 "Type": "BLHeli32",
                 "Version": "32.10"
             },
-            "FC Connection": {
+            "FC->ESC Connection": {
                 "Type": "Main Out",
                 "Protocol": "DShot600"
             },
+            "ESC->FC Telemetry": {
+                "Type": "SERIAL5",
+                "Protocol": "ESC Telemetry"
+            },
             "Notes": "Runs BDshot600 on Main out and uses SERIAL5 as extra connection for low rate telemetry"
         },
         "Motors": {

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/10_gnss.param

@@ -1,4 +1,5 @@
 BRD_SAFETY_DEFLT,0
+CAN_D1_PROTOCOL,1
 CAN_D1_UC_ESC_BM,65535
 CAN_P1_DRIVER,1
 COMPASS_ORIENT,0

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/vehicle_components.json

@@ -77,10 +77,14 @@
                 "Type": "",
                 "Version": ""
             },
-            "FC Connection": {
+            "FC->ESC Connection": {
                 "Type": "Main Out",
                 "Protocol": "Normal"
             },
+            "ESC->FC Telemetry": {
+                "Type": "None",
+                "Protocol": "None"
+            },
             "Notes": ""
         },
         "Motors": {

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/08_batt1.param

@@ -10,4 +10,4 @@ BATT_LOW_MAH,900  # trigger low failsafe just below 33% remaining
 BATT_LOW_VOLT,21  # Low failsafe voltage x nr. of cells
 BATT_MONITOR,9  # Selected in component editor window
 MOT_BAT_VOLT_MAX,25.2  # Scale the PIDs up when battery voltage is below this threshold
-MOT_BAT_VOLT_MIN,19.2  # Scale the PIDs up when battery voltage is above this threshold
+MOT_BAT_VOLT_MIN,19.8  # Scale the PIDs up when battery voltage is above this threshold

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/vehicle_components.json

@@ -60,7 +60,7 @@
                 "Volt per cell arm": 3.5833,
                 "Volt per cell low": 3.5,
                 "Volt per cell crit": 3.2,
-                "Volt per cell min": 3.2,
+                "Volt per cell min": 3.3,
                 "Number of cells": 6,
                 "Capacity mAh": 5000
             },
@@ -77,7 +77,11 @@
                 "Type": "FETtec",
                 "Version": "10_224"
             },
-            "FC Connection": {
+            "FC->ESC Connection": {
+                "Type": "SERIAL1",
+                "Protocol": "FETtecOneWire"
+            },
+            "ESC->FC Telemetry": {
                 "Type": "SERIAL1",
                 "Protocol": "FETtecOneWire"
             },

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/08_batt1.param

@@ -1,15 +1,15 @@
 BATT_AMP_PERVLT,17  # new calibrated value for Mamba F45_128k 4in1 ESC
-BATT_ARM_VOLT,15.7  # Only arm above this voltage, to avoid taking off with insufficient battery capacity
+BATT_ARM_VOLT,11.775  # Only arm above this voltage, to avoid taking off with insufficient battery capacity
 BATT_CAPACITY,1800  # Total battery capacity specified in the component editor
 BATT_CRT_MAH,0  # When only 450mAh out of the total 1800mAh remain, trigger critical failsafe
-BATT_CRT_VOLT,14.2  # Critical failsafe voltage x nr. of cells
+BATT_CRT_VOLT,10.65  # Critical failsafe voltage x nr. of cells
 BATT_FS_CRT_ACT,1  # Land ASAP
 BATT_FS_LOW_ACT,2  # Return and land at home or rally point
 BATT_FS_VOLTSRC,0  # Let the firmware handle the nasty business of variable and battery dependent internal resistance
 BATT_I2C_BUS,0  # Selected in component editor window
 BATT_LOW_MAH,0  # When only 450mAh out of the total 1800mAh remain, trigger low failsafe
-BATT_LOW_VOLT,14.4  # Low failsafe voltage x nr. of cells
+BATT_LOW_VOLT,10.8  # Low failsafe voltage x nr. of cells
 BATT_MONITOR,4  # Selected in component editor window
 BATT_VOLT_MULT,10.1  # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it
-MOT_BAT_VOLT_MAX,16.8  # Scale the PIDs up when battery voltage is below this threshold
-MOT_BAT_VOLT_MIN,14.2  # Scale the PIDs up when battery voltage is above this threshold
+MOT_BAT_VOLT_MAX,12.8001  # Scale the PIDs up when battery voltage is below this threshold
+MOT_BAT_VOLT_MIN,9.6  # Scale the PIDs up when battery voltage is above this threshold