refactor(data-model): restructure ESC connection and telemetry validation

Rename MOT_PWM_TYPE_DICT to ESC_CONNECTION_DICT and refactor ESC->FC telemetry
validation into dedicated methods (_compute_esc_telemetry_choices,
_update_esc_fc_connection_choices, etc.) for better maintainability. Rename BDShot
protocol to BDShotOnly for clarity. Add ESC_TELEMETRY_ONLY_PROTOCOLS and
ESC_SERIAL_SAME_PORT_PROTOCOLS constants to differentiate protocol categories.

Author: amilcarlucas

TUNING_GUIDE_ArduCopter.md

@@ -268,7 +268,7 @@ The `ESC->FC Telemetry` type and protocol describe the return path:
 | Connection Type | Protocol | Notes |
 | --------------- | -------- | ----- |
 | `None` | `None` | No ESC telemetry |
-| same as FC->ESC | `BDShot` | BDShot only on Main Out and/or AIO, without serial port backup channel |
+| same as FC->ESC | `BDShotOnly` | BDShot only on Main Out and/or AIO, without serial port backup channel |
 | serial port | `ESC Telemetry` | DShot or BDShot serial telemetry backup channel |
 | serial port | `FETtecOneWire` | Bidirectional FETtec protocol on the same wire |
 | serial port | `Scripting` | For T-Motor/Hobbywing Datalink v2 serial telemetry |
@@ -278,7 +278,7 @@ The `ESC->FC Telemetry` type and protocol describe the return path:
 
 When using BDShot only on `Main Out` (1-8) and/or `Aux I/O` (9-14) connection, without serial port backup channel:
 
-![ESC telemetry BDshot only](images/blog/component_editor_esc_telem_main_out_aio.png)
+![ESC telemetry BDShotOnly](images/blog/component_editor_esc_telem_main_out_aio.png)
 
 When using DShot or BDShot with a serial port backup channel:
 

ardupilot_methodic_configurator/data_model_parameter_editor.py

@@ -1024,7 +1024,7 @@ def upload_selected_params_workflow(  # pylint: disable=too-many-arguments, too-
             # If reset happened, fc_parameters cache was cleared during disconnect/reconnect
             # Re-download parameters now so _upload_parameters_to_fc has valid cache for comparison
             if reset_happened:
-                self.download_flight_controller_parameters(lambda cb=progress_callback_for_download: cb)
+                self.download_flight_controller_parameters(lambda cb=progress_callback_for_download: cb)  # type: ignore[misc]
 
             # Upload remaining parameters (excluding those already uploaded in reset workflow)
             remaining_params = {k: v for k, v in selected_params.items() if k not in already_uploaded_params}
@@ -1039,7 +1039,7 @@ def upload_selected_params_workflow(  # pylint: disable=too-many-arguments, too-
             if self._at_least_one_changed:
                 # Re-download all parameters to validate
                 # Note: Passing the callback directly, not the factory, since we already got it
-                self.download_flight_controller_parameters(lambda cb=progress_callback_for_download: cb)
+                self.download_flight_controller_parameters(lambda cb=progress_callback_for_download: cb)  # type: ignore[misc]
                 param_upload_error = self._validate_uploaded_parameters(selected_params)
 
                 if param_upload_error:

ardupilot_methodic_configurator/data_model_vehicle_components_import.py

@@ -26,15 +26,16 @@
 from ardupilot_methodic_configurator.data_model_vehicle_components_validation import (
     BATT_MONITOR_CONNECTION,
     CAN_PORTS,
-    ESC_TELEMETRY_PROTOCOLS,
+    ESC_TELEMETRY_ONLY_PROTOCOLS,
     GNSS_RECEIVER_CONNECTION,
     I2C_PORTS,
+    PWM_OUT_PORTS,
     RC_PROTOCOLS_DICT,
     SERIAL_PORTS,
     SERIAL_PROTOCOLS_DICT,
     SERVO_FUNCTION_ESC_CONTROL,
     ComponentDataModelValidation,
-    get_mot_pwm_type_sub_dict,
+    get_esc_connection_sub_dict,
 )
 
 
@@ -179,7 +180,7 @@ def process_fc_parameters(
         elif "GPS_TYPE" in doc:
             self._verify_dict_is_uptodate(doc, GNSS_RECEIVER_CONNECTION, "GPS_TYPE", "values")
         fw_type = str(self.get_component_value(("Flight Controller", "Firmware", "Type")) or "")
-        self._verify_dict_is_uptodate(doc, get_mot_pwm_type_sub_dict(fw_type), "MOT_PWM_TYPE", "values")
+        self._verify_dict_is_uptodate(doc, get_esc_connection_sub_dict(fw_type), "MOT_PWM_TYPE", "values")
         self._verify_dict_is_uptodate(doc, RC_PROTOCOLS_DICT, "RC_PROTOCOLS", "Bitmask")
 
         # Process parameters in sequence
@@ -330,7 +331,7 @@ def _process_serial_components(self, fc_parameters: dict) -> bool:  # pylint: di
                     self.set_component_value(("GNSS Receiver", "FC Connection", "Type"), serial)
                 gnss += 1
             elif component == "ESC":
-                if protocol in ESC_TELEMETRY_PROTOCOLS:
+                if protocol in ESC_TELEMETRY_ONLY_PROTOCOLS:
                     # Serial ESC->FC telemetry only (DShot with UART feedback, or Hobbywing Datalink v2).
                     # FC->ESC connection is still PWM/DShot; _set_esc_type_from_fc_parameters handles it.
                     # Do NOT increment esc so that function is still called.
@@ -372,13 +373,13 @@ def _set_esc_type_from_fc_parameters(self, fc_parameters: dict[str, float], doc:
             protocol = doc["MOT_PWM_TYPE"]["values"].get(str(mot_pwm_type), "")
             if protocol:
                 self.set_component_value(("ESC", "FC->ESC Connection", "Protocol"), protocol)
-        # Fallback to MOT_PWM_TYPE_DICT if doc is not available
+        # Fallback to ESC_CONNECTION_DICT if doc is not available
         else:
-            mot_pwm_sub = get_mot_pwm_type_sub_dict(
+            esc_conn_sub = get_esc_connection_sub_dict(
                 str(self.get_component_value(("Flight Controller", "Firmware", "Type")) or "")
             )
-            if str(mot_pwm_type) in mot_pwm_sub:
-                protocol = str(mot_pwm_sub[str(mot_pwm_type)]["protocol"])
+            if str(mot_pwm_type) in esc_conn_sub:
+                protocol = str(esc_conn_sub[str(mot_pwm_type)]["protocol"])
                 self.set_component_value(("ESC", "FC->ESC Connection", "Protocol"), protocol)
 
         # Set ESC->FC Telemetry: DShot supports BDShot telemetry on the same PWM wire.
@@ -388,9 +389,9 @@ def _set_esc_type_from_fc_parameters(self, fc_parameters: dict[str, float], doc:
         current_telemetry_type = self.get_component_value(("ESC", "ESC->FC Telemetry", "Type"))
         if protocol and protocol.startswith("DShot"):
             if current_telemetry_type not in SERIAL_PORTS and current_telemetry_type not in CAN_PORTS:
-                # No dedicated serial/CAN telemetry port detected; fall back to BDShot on the PWM wire
+                # No dedicated serial/CAN telemetry port detected; fall back to BDShotOnly on the PWM wire
                 self.set_component_value(("ESC", "ESC->FC Telemetry", "Type"), esc_conn_type)
-                self.set_component_value(("ESC", "ESC->FC Telemetry", "Protocol"), "BDShot")
+                self.set_component_value(("ESC", "ESC->FC Telemetry", "Protocol"), "BDShotOnly")
         elif not current_telemetry_type or (
             current_telemetry_type not in SERIAL_PORTS and current_telemetry_type not in CAN_PORTS
         ):
@@ -688,10 +689,19 @@ def _set_motor_poles_from_fc_parameters(self, fc_parameters: dict[str, float]) -
         poles = 0.0
         if "MOT_PWM_TYPE" in fc_parameters:
             mot_pwm_type_str = str(int(fc_parameters["MOT_PWM_TYPE"]))
-            mot_pwm_sub = get_mot_pwm_type_sub_dict(
+            esc_conn_sub = get_esc_connection_sub_dict(
                 str(self.get_component_value(("Flight Controller", "Firmware", "Type")) or "")
             )
-            if mot_pwm_type_str in mot_pwm_sub and mot_pwm_sub[mot_pwm_type_str].get("is_dshot", False):
+            entry = esc_conn_sub.get(mot_pwm_type_str)
+            esc_to_fc = entry.get("ESC_to_FC") if entry is not None else None
+            is_dshot = (
+                entry is not None
+                and isinstance(esc_to_fc, dict)
+                and ("same_as_FC_to_ESC",) in esc_to_fc
+                and isinstance(entry.get("type"), tuple)
+                and entry["type"] == PWM_OUT_PORTS
+            )
+            if is_dshot:
                 if fc_parameters.get("SERVO_BLH_POLES"):  # DShot ESCs
                     poles = fc_parameters["SERVO_BLH_POLES"]
             elif fc_parameters.get("SERVO_FTW_MASK") and fc_parameters.get("SERVO_FTW_POLES"):