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Component editor ESC connection interdependencies #1516

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Merged
amilcarlucas merged 2 commits into from
Apr 21, 2026
Merged

Component editor ESC connection interdependencies #1516

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40a6a23
test(ESC): Added component editor ESC connection interdependencies tests
amilcarlucas Apr 15, 2026
8997d11
refactor(data-model): restructure ESC connection and telemetry valida…
amilcarlucas Apr 19, 2026
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4 changes: 2 additions & 2 deletions TUNING_GUIDE_ArduCopter.md
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Original file line number Diff line number Diff line change
Expand Up @@ -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 |
Expand All @@ -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:

Expand Down
4 changes: 2 additions & 2 deletions ardupilot_methodic_configurator/data_model_parameter_editor.py
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Expand Up @@ -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}
Expand All @@ -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:
Expand Down
34 changes: 22 additions & 12 deletions ardupilot_methodic_configurator/data_model_vehicle_components_import.py
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Expand Up @@ -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,
)


Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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.
Expand Down Expand Up @@ -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.
Expand All @@ -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
):
Expand Down Expand Up @@ -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"):
Expand Down
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