Esc followup

.github/workflows/update_vehicle_components_translation.yaml

@@ -66,7 +66,7 @@ jobs:
         uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1 # v8.1.1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
-          commit-message: 'Auto-update vehicle components translatable strings'
+          commit-message: 'docs(component editor): Auto-update vehicle components translatable strings'
           title: 'Update vehicle components translatable strings'
           body: |
             This PR updates the vehicle_components.py file with new translatable strings.

ardupilot_methodic_configurator/data_model_vehicle_components_import.py

@@ -8,7 +8,6 @@
 SPDX-License-Identifier: GPL-3.0-or-later
 """
 
-import contextlib
 from dataclasses import dataclass
 
 # from logging import debug as logging_debug
@@ -463,7 +462,7 @@ def _set_battery_type_from_fc_parameters(self, fc_parameters: dict[str, float])
             final_chemistry = BATTERY_DEFAULT_CHEMISTRY
 
         specs = BatteryVoltageSpecs(
-            estimated_cell_count=self._estimate_battery_cell_count(fc_parameters),
+            estimated_cell_count=self._estimate_battery_cell_count(fc_parameters, final_chemistry),
             limit_min=BatteryCell.limit_min_voltage(final_chemistry),
             limit_max=BatteryCell.limit_max_voltage(final_chemistry),
             detected_chemistry=final_chemistry,
@@ -586,80 +585,82 @@ def _detect_battery_chemistry_from_voltages(
 
         return None
 
-    def _estimate_cells_from_voltage_param(
-        self, param_name: str, param_value: float, volt_per_cell_spec: str
+    def _estimate_cells_from_voltage_param_default(
+        self, param_name: str, param_value: float, volt_per_cell_spec: str, chemistry: str
     ) -> Optional[int]:
         """
-        Estimate cell count from a voltage parameter.
+        Estimate cell count from a voltage parameter using the chemistry-specific default per-cell voltages.
 
         Args:
             param_name: Name of the parameter for logging
             param_value: Value of the voltage parameter
             volt_per_cell_spec: Battery specification name (e.g., "Volt per cell max")
+            chemistry: Battery chemistry to use for default per-cell voltages
 
         Returns:
             Estimated cell count or None if estimation failed
 
         """
-        volt_per_cell_value = self.get_component_value(("Battery", "Specifications", volt_per_cell_spec))
-
-        volt_per_cell = 0.0
-        if isinstance(volt_per_cell_value, (int, float, str)) and volt_per_cell_value:
-            with contextlib.suppress(ValueError, TypeError):
-                volt_per_cell = float(volt_per_cell_value)
-
-        if volt_per_cell <= 0:
-            logging_warning(_("Volt per cell value for %s is zero or invalid: %s"), volt_per_cell_spec, volt_per_cell_value)
+        # Get default per-cell voltage for this chemistry and spec
+        volt_per_cell = BatteryCell.recommended_cell_voltage(chemistry, volt_per_cell_spec)
+        if isnan(volt_per_cell) or volt_per_cell <= 0:
+            logging_error(_("No recommended voltage for %s %s"), chemistry, volt_per_cell_spec)
             return None
 
         try:
             voltage = float(param_value)
-            if voltage > 0:
-                return round(voltage / volt_per_cell)
-        except (ValueError, TypeError, ZeroDivisionError) as e:
+            if voltage <= 0:
+                logging_warning(_("Voltage value for %s is zero or invalid: %s"), param_name, param_value)
+                return None
+            estimated_cells = round(voltage / volt_per_cell)
+            # Validate reasonable range
+            if 1 <= estimated_cells <= 50:  # Reasonable range for battery packs
+                return estimated_cells
+            logging_warning(_("Estimated cell count %d from %s seems unreasonable"), estimated_cells, param_name)
+        except (ValueError, TypeError) as e:
             logging_error(_("Error processing %s parameter: %s"), param_name, str(e))
-
         return None
 
-    def _estimate_battery_cell_count(self, fc_parameters: dict[str, float]) -> int:
+    def _estimate_battery_cell_count(self, fc_parameters: dict[str, float], chemistry: str = BATTERY_DEFAULT_CHEMISTRY) -> int:
         """
         Estimate battery cell count from voltage parameters.
 
         Uses MOT_BAT_VOLT_MAX, BATT_LOW_VOLT, BATT_CRT_VOLT, BATT_ARM_VOLT, or MOT_BAT_VOLT_MIN
-        along with current volt-per-cell values to estimate the number of cells.
+        along with default volt-per-cell values for the given chemistry to estimate the number of cells.
 
         Args:
             fc_parameters: Dictionary of flight controller parameters
+            chemistry: Battery chemistry to use for default per-cell voltages
 
         """
         # Try to estimate cell count from available voltage parameters
         # Priority: MOT_BAT_VOLT_MAX > BATT_LOW_VOLT > BATT_CRT_VOLT > BATT_ARM_VOLT > MOT_BAT_VOLT_MIN
         estimated_cells = None
 
         if "MOT_BAT_VOLT_MAX" in fc_parameters:
-            estimated_cells = self._estimate_cells_from_voltage_param(
-                "MOT_BAT_VOLT_MAX", fc_parameters["MOT_BAT_VOLT_MAX"], "Volt per cell max"
+            estimated_cells = self._estimate_cells_from_voltage_param_default(
+                "MOT_BAT_VOLT_MAX", fc_parameters["MOT_BAT_VOLT_MAX"], "Volt per cell max", chemistry
             )
 
         if estimated_cells is None and "BATT_LOW_VOLT" in fc_parameters:
-            estimated_cells = self._estimate_cells_from_voltage_param(
-                "BATT_LOW_VOLT", fc_parameters["BATT_LOW_VOLT"], "Volt per cell low"
+            estimated_cells = self._estimate_cells_from_voltage_param_default(
+                "BATT_LOW_VOLT", fc_parameters["BATT_LOW_VOLT"], "Volt per cell low", chemistry
             )
 
         if estimated_cells is None and "BATT_CRT_VOLT" in fc_parameters:
-            estimated_cells = self._estimate_cells_from_voltage_param(
-                "BATT_CRT_VOLT", fc_parameters["BATT_CRT_VOLT"], "Volt per cell crit"
+            estimated_cells = self._estimate_cells_from_voltage_param_default(
+                "BATT_CRT_VOLT", fc_parameters["BATT_CRT_VOLT"], "Volt per cell crit", chemistry
             )
 
         # lower prio, because less often used
         if estimated_cells is None and "BATT_ARM_VOLT" in fc_parameters:
-            estimated_cells = self._estimate_cells_from_voltage_param(
-                "BATT_ARM_VOLT", fc_parameters["BATT_ARM_VOLT"], "Volt per cell arm"
+            estimated_cells = self._estimate_cells_from_voltage_param_default(
+                "BATT_ARM_VOLT", fc_parameters["BATT_ARM_VOLT"], "Volt per cell arm", chemistry
             )
 
         if estimated_cells is None and "MOT_BAT_VOLT_MIN" in fc_parameters:
-            estimated_cells = self._estimate_cells_from_voltage_param(
-                "MOT_BAT_VOLT_MIN", fc_parameters["MOT_BAT_VOLT_MIN"], "Volt per cell min"
+            estimated_cells = self._estimate_cells_from_voltage_param_default(
+                "MOT_BAT_VOLT_MIN", fc_parameters["MOT_BAT_VOLT_MIN"], "Volt per cell min", chemistry
             )
 
         # If no estimation succeeded, all volt per cell values must be invalid

ardupilot_methodic_configurator/vehicle_components.py

@@ -80,7 +80,10 @@ def translatable_descriptions() -> None:  # noqa: PLR0915 # pylint: disable=too-
     _vehicle_components_descriptions = _("Component that monitors battery voltage and current")
     _vehicle_components_descriptions = _("Connection type (e.g., UART, I2C, SPI)")
     _vehicle_components_descriptions = _("Critical voltage per cell below which damage may occur (e.g., 3.3V)")
+    _vehicle_components_descriptions = _("Data path from flight controller to ESC")
     _vehicle_components_descriptions = _("Details about how a component connects to the flight controller")
+    _vehicle_components_descriptions = _("ESC firmware information")
+    _vehicle_components_descriptions = _("Electronic Speed Controller component with (optional) telemetry")
     _vehicle_components_descriptions = _("Electronic Speed Controller for the motors")
     _vehicle_components_descriptions = _("Flight controller component that runs the ArduPilot firmware")
     _vehicle_components_descriptions = _("Flight controller firmware information")
@@ -118,6 +121,7 @@ def translatable_descriptions() -> None:  # noqa: PLR0915 # pylint: disable=too-
     _vehicle_components_descriptions = _("Technical specifications of the motors")
     _vehicle_components_descriptions = _("Technical specifications of the propellers")
     _vehicle_components_descriptions = _("Technical specifications of the vehicle frame")
+    _vehicle_components_descriptions = _("Telemetry path from ESC to flight controller (if applicable)")
     _vehicle_components_descriptions = _("Transmitter part of the remote control system")
     _vehicle_components_descriptions = _("Type of firmware")
     _vehicle_components_descriptions = _("Version number of the firmware")

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/Chimera7/10_gnss.param

@@ -1,5 +1,5 @@
 BRD_SAFETY_DEFLT,0  # Matek H743 Slim has no safety switch
-GPS_GNSS_MODE,1  # limit the constalations to ensure an update rate higher than 5Hz
+GPS_GNSS_MODE,1  # limit the constellations to ensure an update rate higher than 5Hz
 GPS_POS1_X,0  # GNSS antenna pahse center location relative to CG
 GPS_POS1_Y,0  # GNSS antenna pahse center location relative to CG
 GPS_POS1_Z,0  # GNSS antenna pahse center location relative to CG

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-5/10_gnss.param

@@ -1,7 +1,7 @@
 BRD_SAFETY_DEFLT,0  # do not use safety switch
 CAN_D1_PROTOCOL,1  # 2nd GPS (Here3) is connected via CAN
 CAN_P1_DRIVER,1  # Here3
-GPS_GNSS_MODE,7  # limit the constalations to ensure an update rate higher than 5Hz
+GPS_GNSS_MODE,7  # limit the constellations to ensure an update rate higher than 5Hz
 GPS_POS1_X,0  # GNSS antenna pahse center location relative to CG
 GPS_POS1_Y,0  # GNSS antenna pahse center location relative to CG
 GPS_POS1_Z,0  # GNSS antenna pahse center location relative to CG

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

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

@@ -1,5 +1,5 @@
 BRD_SAFETY_DEFLT,0  # Matek H743 Slim has no safety switch
-GPS_GNSS_MODE,7  # limit the constalations to ensure an update rate higher than 5Hz
+GPS_GNSS_MODE,7  # limit the constellations to ensure an update rate higher than 5Hz
 GPS_POS1_X,0.056  # HX-CH7604A GNSS antenna pahse center location relative to CG
 GPS_POS1_Y,0  # HX-CH7604A GNSS antenna pahse center location relative to CG
 GPS_POS1_Z,-0.07  # HX-CH7604A GNSS antenna pahse center location relative to CG

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/vehicle_components.json

@@ -55,13 +55,13 @@
                 "URL": "-"
             },
             "Specifications": {
-                "Chemistry": "Lipo",
-                "Volt per cell max": 4.2,
+                "Chemistry": "LipoHV",
+                "Volt per cell max": 4.2667,
                 "Volt per cell arm": 3.925,
                 "Volt per cell low": 3.6,
                 "Volt per cell crit": 3.55,
-                "Volt per cell min": 3.55,
-                "Number of cells": 4,
+                "Volt per cell min": 3.2,
+                "Number of cells": 3,
                 "Capacity mAh": 1800
             },
             "Notes": "A Simulated battery"
@@ -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/Holybro_X500/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/Holybro_X500_V2/12_mp_setup_mandatory_hardware.param

@@ -76,7 +76,7 @@ RC8_TRIM,1000
 RC9_MAX,1900
 RC9_MIN,1100
 RC9_TRIM,1500
-SERVO1_FUNCTION,0
-SERVO2_FUNCTION,0
-SERVO3_FUNCTION,0
-SERVO4_FUNCTION,0
+SERVO1_FUNCTION,33
+SERVO2_FUNCTION,34
+SERVO3_FUNCTION,35
+SERVO4_FUNCTION,36