ESC configuration simplification by amilcarlucas · Pull Request #1489 · ArduPilot/MethodicConfigurator

amilcarlucas · 2026-04-13T00:22:03Z

No description provided.

Copilot

Pull request overview

Note

Copilot was unable to run its full agentic suite in this review.

This PR updates the vehicle components model to better represent ESC configurations by splitting ESC control vs telemetry connections, and improves template import/migration behavior around ESC and frame metadata.

Changes:

Introduces new ESC schema structure (FC->ESC Connection + ESC->FC Telemetry) and migrates legacy FC Connection data.
Makes MOT_PWM_TYPE vehicle-type specific and updates import/validation logic and tests accordingly.
Updates many templates/params/docs to reflect the new ESC model and improved battery/frame defaults.

Reviewed changes

Copilot reviewed 74 out of 87 changed files in this pull request and generated 7 comments.

Show a summary per file

File	Description
update_vehicle_templates.py	Builds a flat param map and invokes FC-parameter processing during template updates.
tests/unit_data_model_vehicle_components_validation_constants.py	Updates validation constants tests for new ESC path(s) and revised MOT_PWM_TYPE structure.
tests/unit_data_model_vehicle_components_validation.py	Adjusts validation unit tests for `FC->ESC Connection` and telemetry paths.
tests/test_data_model_vehicle_components_validation_bdd.py	Updates BDD tests for ESC path changes and duplicate connection handling.
tests/test_data_model_vehicle_components_validation.py	Updates validation tests to use new ESC connection path and conditional protocol path logic.
tests/test_data_model_vehicle_components_import.py	Updates import tests for new ESC structure and vehicle-type PWM dict accessor; adds new import scenarios.
tests/test_data_model_vehicle_components_base.py	Adds migration test for legacy ESC path; adds tests ensuring `Notes` ordering.
tests/acceptance_template_import_from_params.py	Updates acceptance inferable fields for new ESC paths.
ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/vehicle_components.json	Updates template ESC structure + frame class + various connection defaults.
ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/13_general_configuration.param	Moves/adjusts serial and SR* params for template consistency.
ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/12_mp_setup_mandatory_hardware.param	Updates motor battery voltage thresholds.
ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/10_gnss.param	Updates GNSS/CAN params (incl. GPS1_* rename usage).
ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/09_batt2.param	Removes batt2 param file contents (consolidation).
ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/08_batt1.param	Consolidates batt params and updates thresholds.
ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/06_telemetry.param	Adjusts telemetry serial port selection for template.
ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/vehicle_components.json	Updates ESC schema + frame class + battery/batt monitor values.
ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/10_gnss.param	Adds CAN protocol param and keeps GNSS settings aligned.
ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/08_batt1.param	Clarifies comments and standardizes voltage scaling comments.
ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/vehicle_components.json	Reorders product fields, adds frame class, updates ESC schema, and updates program version.
ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/vehicle_components.json	Updates ESC schema and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/10_gnss.param	Sets SERIAL3_PROTOCOL to GNSS-friendly value.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/vehicle_components.json	Updates ESC schema + adds frame class and zeroed battery defaults.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/53_everyday_use.param	Removes BATT2 low failsafe setting from empty template.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/08_batt1.param	Sets empty-template battery thresholds to 0 for derived config.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/vehicle_components.json	Updates ESC schema + adds frame class; tweaks default protocol naming.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/53_everyday_use.param	Removes BATT2 low failsafe setting from empty template.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/08_batt1.param	Sets empty-template battery thresholds to 0 and clarifies monitor comment.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/vehicle_components.json	Updates ESC schema and battery minimum voltage; adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/08_batt1.param	Adjusts MOT_BAT_VOLT_MIN.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/vehicle_components.json	Updates ESC schema and battery minimum voltage; adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/08_batt1.param	Adjusts MOT_BAT_VOLT_MIN.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/vehicle_components.json	Updates ESC schema and battery minimum voltage; adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/08_batt1.param	Adjusts MOT_BAT_VOLT_MIN.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/vehicle_components.json	Updates ESC schema and battery minimum voltage; adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/08_batt1.param	Adjusts MOT_BAT_VOLT_MIN.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/vehicle_components.json	Updates ESC schema, battery chemistry thresholds, and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/08_batt1.param	Adjusts MOT_BAT_VOLT_[MIN/MAX].
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/vehicle_components.json	Updates ESC schema, telemetry port, and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/vehicle_components.json	Updates ESC schema + telemetry and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/vehicle_components.json	Updates ESC schema, battery minimum voltage, and telemetry protocol; adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/08_batt1.param	Adjusts MOT_BAT_VOLT_MIN.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/vehicle_components.json	Updates ESC schema/telemetry interpretation and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/08_batt1.param	Adjusts MOT_BAT_VOLT_MIN.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/vehicle_components.json	Updates ESC schema and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/08_batt1.param	Adjusts MOT_BAT_VOLT_MIN.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/vehicle_components.json	Updates ESC schema and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/10_gnss.param	Adds CAN params and corrects comments/typos in template param file.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/08_batt1.param	Adjusts MOT_BAT_VOLT_MIN.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/vehicle_components.json	Updates ESC schema and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/06_telemetry.param	Adds SERIAL1_PROTOCOL for LTE telemetry.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/vehicle_components.json	Updates ESC schema and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/12_mp_setup_mandatory_hardware.param	Sets servo functions for motor outputs.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/vehicle_components.json	Updates ESC schema and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/vehicle_components.json	Updates ESC schema, battery chemistry/config values, and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/08_batt1.param	Fixes per-cell voltage scaling for 3S settings and adjusts MOT_BAT_VOLT thresholds.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/vehicle_components.json	Updates ESC schema to represent bidirectional serial control+telemetry.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/08_batt1.param	Adjusts MOT_BAT_VOLT_MIN.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/vehicle_components.json	Updates ESC schema and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/10_gnss.param	Adds CAN protocol param.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/vehicle_components.json	Updates ESC schema/telemetry, battery minimum voltage, and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/08_batt1.param	Adjusts MOT_BAT_VOLT_MIN.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/vehicle_components.json	Updates ESC schema and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/vehicle_components.json	Updates ESC schema, GNSS connection type, and adds frame class.
ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/08_batt1.param	Adjusts MOT_BAT_VOLT_MIN.
ardupilot_methodic_configurator/vehicle_components_schema.json	Adds ESC component schema with telemetry + adds Frame.Specifications.Class.
ardupilot_methodic_configurator/data_model_vehicle_components_validation.py	Adds ESC telemetry combobox logic; introduces vehicle-type PWM dict accessor; expands connection paths.
ardupilot_methodic_configurator/data_model_vehicle_components_import.py	Imports frame class; updates ESC import for split connections; adapts MOT_PWM_TYPE handling by vehicle type.
ardupilot_methodic_configurator/data_model_vehicle_components_base.py	Migrates legacy ESC path and reorders `Notes` to be last in component sections.
ardupilot_methodic_configurator/data_model_template_overview.py	Reads ESC protocol from new `FC->ESC Connection` path.
ardupilot_methodic_configurator/configuration_steps_Rover.json	Adjusts derived battery formulas and adds GNSS GPS1_TYPE and a plugin entry.
ardupilot_methodic_configurator/backend_filesystem_vehicle_components.py	Updates default wipe data to new ESC connection path.
ardupilot_methodic_configurator/annotate_params.py	Adds fallback mapping for `Heli` vehicle type.
TUNING_GUIDE_ArduCopter.md	Adds extensive component editor documentation incl. new ESC telemetry structure.
Components.md	Adds standalone component editor documentation.

Comments suppressed due to low confidence (1)

update_vehicle_templates.py:1

The contextlib.suppress(ValueError, TypeError) wraps the entire parameter-flattening loop: one bad value will abort collection of all subsequent parameters, producing an incomplete flat_params and potentially missing ESC/serial detection. Also, the comment says 00_default.param is seeded first, but that logic is commented out. Consider handling conversion failures per-parameter (try/except inside the inner loop) and either re-enable the default seeding or update the comment to match behavior.

Copilot · 2026-04-13T00:30:38Z

+                    self._possible_choices[protocol_path] = tuple(
+                        str(v["protocol"])
+                        for v in ESC_TELEMETRY_DICT.values()
+                        if isinstance(v["type"], list) and value in v["type"]


ESC telemetry protocol choices will almost always collapse to ('None',) because ESC_TELEMETRY_DICT uses tuple/sequence constants (e.g., SERIAL_PORTS, CAN_PORTS, PWM_OUT_PORTS), but the filter checks isinstance(v['type'], list). Fix by either (a) making ESC_TELEMETRY_DICT store type as a list (e.g., list(SERIAL_PORTS)) or (b) widening the check to accept tuples as well (e.g., isinstance(v['type'], (list, tuple))).

Suggested change

if isinstance(v["type"], list) and value in v["type"]

if isinstance(v["type"], (list, tuple)) and value in v["type"]

Copilot · 2026-04-13T00:30:38Z

+        if protocol and protocol.startswith("DShot"):
+            current_telemetry_type = self.get_component_value(("ESC", "ESC->FC Telemetry", "Type"))
+            if current_telemetry_type not in SERIAL_PORTS:
+                # No dedicated serial telemetry port detected; fall back to BDShot 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")
+        else:
+            self.set_component_value(("ESC", "ESC->FC Telemetry", "Type"), "None")
+            self.set_component_value(("ESC", "ESC->FC Telemetry", "Protocol"), "None")


If _set_serial_type_from_fc_parameters() has already populated a dedicated serial ESC telemetry port (Protocol 16 or 28), but MOT_PWM_TYPE resolves to a non-DShot protocol (e.g., 'Normal'), the else: branch resets ESC->FC Telemetry back to None, overwriting the import. To honor the stated precedence, only set telemetry to None when it is currently unset (or when it’s not a dedicated serial/CAN telemetry).

Suggested change

if protocol and protocol.startswith("DShot"):

current_telemetry_type = self.get_component_value(("ESC", "ESC->FC Telemetry", "Type"))

if current_telemetry_type not in SERIAL_PORTS:

# No dedicated serial telemetry port detected; fall back to BDShot 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")

else:

self.set_component_value(("ESC", "ESC->FC Telemetry", "Type"), "None")

self.set_component_value(("ESC", "ESC->FC Telemetry", "Protocol"), "None")

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

self.set_component_value(("ESC", "ESC->FC Telemetry", "Type"), esc_conn_type)

self.set_component_value(("ESC", "ESC->FC Telemetry", "Protocol"), "BDShot")

else:

if not current_telemetry_type or (

current_telemetry_type not in SERIAL_PORTS and current_telemetry_type not in CAN_PORTS

):

self.set_component_value(("ESC", "ESC->FC Telemetry", "Type"), "None")

self.set_component_value(("ESC", "ESC->FC Telemetry", "Protocol"), "None")

Copilot · 2026-04-13T00:30:39Z

@@ -0,0 +1,220 @@
+# Components and FC connections editor usage
+
+Here you should enter information about you vehicle components and their respective connection to the flight controller.


Correct 'you' to 'your' in this sentence.

Suggested change

Here you should enter information about you vehicle components and their respective connection to the flight controller.

Here you should enter information about your vehicle components and their respective connection to the flight controller.

Copilot · 2026-04-13T00:30:39Z

+![product](images\blog\component_editor_product.png)
+
+The URL can be used to store a link to a datasheet or a link to a shop product page.
+
+Some components have **optional** information about their firmware:
+
+![firmware](images\blog\component_editor_firmware.png)
+
+All components have an **optional** notes field.
+
+## Flight Controller
+
+![flight controller](images\blog\component_editor_flight_controller.png)
+
+Some information, if available, is automatically filed in by the software as seen in the example above.
+
+## Frame
+
+![frame](images\blog\component_editor_frame.png)


Markdown image paths use backslashes (images\\blog\\...), which typically won't render correctly on GitHub and many Markdown viewers. Use forward slashes (images/blog/...) for portability.

Suggested change

![product](images\blog\component_editor_product.png)

The URL can be used to store a link to a datasheet or a link to a shop product page.

Some components have **optional** information about their firmware:

![firmware](images\blog\component_editor_firmware.png)

All components have an **optional** notes field.

## Flight Controller

![flight controller](images\blog\component_editor_flight_controller.png)

Some information, if available, is automatically filed in by the software as seen in the example above.

## Frame

![frame](images\blog\component_editor_frame.png)

![product](images/blog/component_editor_product.png)

The URL can be used to store a link to a datasheet or a link to a shop product page.

Some components have **optional** information about their firmware:

![firmware](images/blog/component_editor_firmware.png)

All components have an **optional** notes field.

## Flight Controller

![flight controller](images/blog/component_editor_flight_controller.png)

Some information, if available, is automatically filed in by the software as seen in the example above.

## Frame

![frame](images/blog/component_editor_frame.png)

Copilot · 2026-04-13T00:30:39Z

+                },
+                "Class": {
+                  "type": "string",
+                  "description": "Frame class/category (e.g., Quad, Hexa, Octa, etc.)"


The schema describes Frame.Specifications.Class as a category label (e.g., Quad/Hexa), but the import/templates set it to numeric strings (e.g., "1", "6"). To avoid confusion and validation surprises, either update the description to state it's the numeric FRAME_CLASS code (stored as string), or change the schema/type to an integer (and/or add an enum mapping) consistent with how it’s populated.

Suggested change

"description": "Frame class/category (e.g., Quad, Hexa, Octa, etc.)"

"description": "ArduPilot FRAME_CLASS numeric code stored as a string (e.g., \"1\" for Quad, \"6\" for Hexa)"

Copilot · 2026-04-13T00:30:40Z

                },
                "ESC": {
-                    "FC Connection": {"Type": "Main Out", "Protocol": "Normal"},
+                    "FC->ESC Connection": {"Type": "Main Out", "Protocol": "Normal"},


With the schema now modeling ESC telemetry separately, wipe_component_info() initializes only FC->ESC Connection but not ESC->FC Telemetry. If downstream code/UI assumes the telemetry subsection exists (even as 'None'), this can create inconsistent shapes compared to templates and migrations. Consider initializing ESC->FC Telemetry here as { \"Type\": \"None\", \"Protocol\": \"None\" } for a consistent default.

Suggested change

"FC->ESC Connection": {"Type": "Main Out", "Protocol": "Normal"},

"FC->ESC Connection": {"Type": "Main Out", "Protocol": "Normal"},

"ESC->FC Telemetry": {"Type": "None", "Protocol": "None"},

github-actions · 2026-04-13T01:38:54Z

☂️ Python Coverage

current status: ✅

Overall Coverage

Lines	Covered	Coverage	Threshold	Status
12124	11405	94%	89%	🟢

New Files

No new covered files...

Modified Files

File	Coverage	Status
ardupilot_methodic_configurator/annotate_params.py	87%	🟢
ardupilot_methodic_configurator/backend_filesystem_vehicle_components.py	89%	🟢
ardupilot_methodic_configurator/data_model_template_overview.py	100%	🟢
ardupilot_methodic_configurator/data_model_vehicle_components_base.py	100%	🟢
ardupilot_methodic_configurator/data_model_vehicle_components_import.py	99%	🟢
ardupilot_methodic_configurator/data_model_vehicle_components_validation.py	97%	🟢
TOTAL	95%	🟢

updated for commit: 07cf988 by action🐍

github-actions · 2026-04-13T01:46:50Z

Test Results

4 files ±0 4 suites ±0 41m 0s ⏱️ +21s
3 534 tests +2 3 531 ✅ +1 2 💤 ±0 1 ❌ +1
13 928 runs +8 13 901 ✅ +5 23 💤 - 1 4 ❌ +4

For more details on these failures, see this check.

Results for commit 07cf988. ± Comparison against base commit 485d256.

This pull request removes 1 and adds 3 tests. Note that renamed tests count towards both.

tests.unit_data_model_vehicle_components_import.TestComponentDataModelImportInternals ‑ test_set_battery_type_handles_list_type_values

tests.test_data_model_vehicle_components_base.TestComponentDataModelBase ‑ test_system_migrates_legacy_esc_fc_connection_path
tests.test_data_model_vehicle_components_import.TestComponentDataModelImport ‑ test_user_can_import_esc_connection_and_telemetry_from_serial_fc
tests.unit_data_model_vehicle_components_import.TestComponentDataModelImportInternals ‑ test_set_battery_type_handles_tuple_type_values

♻️ This comment has been updated with latest results.

Rename ESC "FC Connection" to "FC->ESC Connection" to clarify signal direction, and add a separate "ESC->FC Telemetry" path to model the return telemetry channel independently. Backward compatibility is preserved via automatic migration of legacy "FC Connection" data on load. Improve support for Rover ESCs Improve Heli support as well BREAKING CHANGE: ESC component path "FC Connection" is replaced by "FC->ESC Connection"; existing vehicle_components.json files are migrated automatically on first load.

Copilot AI review requested due to automatic review settings April 13, 2026 00:22

Copilot AI reviewed Apr 13, 2026

View reviewed changes

Copilot started reviewing on behalf of amilcarlucas April 13, 2026 01:09 View session

amilcarlucas added 3 commits April 15, 2026 21:58

test(vehicle_components): Added tests for the functionality

418f7e4

docs(tuning guide): Add component editor documentation

07cf988

amilcarlucas force-pushed the ESC_WIP branch from 33d8071 to 07cf988 Compare April 15, 2026 19:58

amilcarlucas merged commit 40bbbac into master Apr 15, 2026
29 of 38 checks passed

amilcarlucas deleted the ESC_WIP branch April 15, 2026 20:18

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ESC configuration simplification#1489

ESC configuration simplification#1489
amilcarlucas merged 3 commits into
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	if isinstance(v["type"], list) and value in v["type"]
	if isinstance(v["type"], (list, tuple)) and value in v["type"]

		@@ -0,0 +1,220 @@
		# Components and FC connections editor usage

		Here you should enter information about you vehicle components and their respective connection to the flight controller.

	"description": "Frame class/category (e.g., Quad, Hexa, Octa, etc.)"
	"description": "ArduPilot FRAME_CLASS numeric code stored as a string (e.g., \"1\" for Quad, \"6\" for Hexa)"

	"FC->ESC Connection": {"Type": "Main Out", "Protocol": "Normal"},
	"FC->ESC Connection": {"Type": "Main Out", "Protocol": "Normal"},
	"ESC->FC Telemetry": {"Type": "None", "Protocol": "None"},

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