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fix(escCheck): suggestions from ESC temperature warning review

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This commit is contained in:
Matthias Grob
2026-06-16 13:39:47 +02:00
parent b8c1d04da6
commit ed107d9179
3 changed files with 15 additions and 16 deletions
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19
src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
View File

@@ -91,7 +91,7 @@ void EscChecks::checkAndReport(const Context &context, Report &reporter)
mask |= checkMotorStatus(context, reporter, esc_status, now);
}
if (_param_com_esc_ot_warn.get() >= FLT_EPSILON) {
if (_param_esc_temp_warn_th.get() >= FLT_EPSILON) {
checkEscTemperature(reporter, esc_status);
}
@@ -220,12 +220,12 @@ uint16_t EscChecks::checkEscStatus(const Context &context, Report &reporter, con
void EscChecks::checkEscTemperature(Report &reporter, const esc_status_s &esc_status)
{
const float warn_temp = _param_com_esc_ot_warn.get();
const float warn_temp = _param_esc_temp_warn_th.get();
int hottest_esc_index = -1;
uint8_t hottest_esc_index = UINT8_MAX;
float max_temperature = -FLT_MAX;
for (int esc_index = 0; esc_index < esc_status_s::CONNECTED_ESC_MAX; esc_index++) {
for (uint8_t esc_index = 0; esc_index < esc_status_s::CONNECTED_ESC_MAX; esc_index++) {
if (!math::isInRange(esc_status.esc[esc_index].actuator_function,
esc_report_s::ACTUATOR_FUNCTION_MOTOR1, esc_report_s::ACTUATOR_FUNCTION_MOTOR_MAX)) {
continue;
@@ -246,7 +246,7 @@ void EscChecks::checkEscTemperature(Report &reporter, const esc_status_s &esc_st
/* EVENT
* @description
* <profile name="dev">
* This check can be configured via <param>COM_ESC_OT_WARN</param> parameter.
* Configured by <param>ESC_TEMP_WARN_TH</param>
* </profile>
*/
reporter.healthFailure<uint8_t, uint8_t>(NavModes::None, health_component_t::motors_escs,
@@ -257,18 +257,17 @@ void EscChecks::checkEscTemperature(Report &reporter, const esc_status_s &esc_st
}
}
if (hottest_esc_index < 0) {
if (hottest_esc_index == UINT8_MAX) {
return;
}
if (max_temperature > warn_temp) {
if (max_temperature >= warn_temp) {
if (!_esc_over_temp_warned && reporter.mavlink_log_pub()) {
mavlink_log_warning(reporter.mavlink_log_pub(),
"High ESC temperature. Reduce throttle!");
mavlink_log_warning(reporter.mavlink_log_pub(), "High ESC temperature. Reduce throttle!");
_esc_over_temp_warned = true;
}
} else if (max_temperature < warn_temp - ESC_OVER_TEMP_RESET_MARGIN) {
} else if (max_temperature < warn_temp - 5.f) {
_esc_over_temp_warned = false;
}
}

4
src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
View File

@@ -61,7 +61,7 @@ private:
static constexpr hrt_abstime ESC_TIMEOUT_US = 400_ms;
static constexpr float ESC_OVER_TEMP_RESET_MARGIN = 5.f;
uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
@@ -80,5 +80,5 @@ private:
(ParamFloat<px4::params::MOTFAIL_C2T>) _param_motfail_c2t,
(ParamFloat<px4::params::MOTFAIL_TIME>) _param_motfail_time,
(ParamFloat<px4::params::MOTFAIL_OFF>) _param_motfail_off,
(ParamFloat<px4::params::COM_ESC_OT_WARN>) _param_com_esc_ot_warn);
(ParamFloat<px4::params::ESC_TEMP_WARN_TH>) _param_esc_temp_warn_th);
};

8
src/modules/commander/HealthAndArmingChecks/esc_check_params.yaml
View File

@@ -51,12 +51,12 @@ parameters:
increment: 1
- group: ESC
definitions:
COM_ESC_OT_WARN:
ESC_TEMP_WARN_TH:
description:
short: ESC over-temperature warning threshold
short: ESC temperature warning threshold
long: |-
Warning raised if ESC temperature gets above threshold: no failsafe action triggered or arming prevented.
Set to -1 to disable the check.
Warning only, no failsafe or arming blocked.
-1 disables the check.
type: float
default: 90.0
min: -1