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ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
GNU General Public License v3.0
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SERVO-BLH-3DMASK and SERVO-BLH-RVMASK encountered conflicts #27208

Open burgeruser opened 3 months ago

burgeruser commented 3 months ago

Bug report

I have experience with BLheli-s and BLheli32 ESCs. When setting both SERVO-BLH-3DMASK and SERVO-BLH-RVMASK, I encountered conflicts. If a flight controller output channel is connected to an ESC and both masks are set, the SERVO-BLH-RVMASK appears to be ineffective. This greatly complicates my assembly process, as it may require disassembling and rewiring the ESCs and motors if they cannot be conveniently flashed with BLheli firmware via its configuration interface. s

The ArduPilot wiki previously mentioned a turtle mode for multicopters, stating that bidirectional ESCs could enable flips. However, following the instructions led to issues, as there were numerous bugs.

Version I have indeed tested this on Copter-4.4 and Copter-4.5.0 platforms, but I haven't tested it on other versions, and it might apply to them as well, which would require actual testing. Additionally, I recommend testing the turtle mode since it may exhibit similar behavior in other firmware versions.

Platform [ ] All [ ] AntennaTracker [X] Copter [ ] Plane [ ] Rover [ ] Submarine

Airframe type s

Hardware type Pixhawk4 and Micro STM32H743 FC 微信截图_20240531230510 微信截图_20240531230525

Hwurzburg commented 3 months ago

A reversed unidirectional mode esc and an esc operating in reversible mode are mutually exclusive features.....just as they are when using the BLHeli configurator

burgeruser commented 3 months ago

A reversed unidirectional mode esc and an esc operating in reversible mode are mutually exclusive features.....just as they are when using the BLHeli configurator

BLHeli configurator can set-up ESC both bi-directional mode, and also configurate reversible mode. But if I using a new ESC without being set-up in BLHeli configurator,it is not be able to runing right, when setting both SERVO-BLH-3DMASK and SERVO-BLH-RVMASK in MissionPlanner.

Hwurzburg commented 3 months ago

your terms are confusing...bi-directional mode has nothing to do with unidirectional reversing or reversible operation ...bi-directional mode in BLHeli32 is telemetry mode... I guess we need to add that using SERVO-BLH-3DMASK and SERVO-BLH-RVMASK are mutually exclusive in the parameter description...I will create a PR to add that in the parameter metadata