search

PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
8.49k stars 13.51k forks source link

ESC Telemetry slower on v1.14.0-rc0 #22730

Closed parakhm95 closed 9 months ago

parakhm95 commented 9 months ago

Describe the bug

We have been comparing our ESC status telemetry message rate which utilizes the round-robin packet request format and there seems to be a large difference in the frequency of messages received. On our first vehicle, F450, we are running a Pixhawk 4 board running on v1.13.2 with DShot and our telemetry feedback seems to be working at ~80 Hz. On our second vehicle, A330, we are running a Cube_Orange_Plus board with v1.14.0-rc0 and our DShot telemetry is only ~33-35 Hz. We have tried setting the same DShot speeds on both vehicles and the results stay the same. I have tried debugging this using the debug publish message as well, so this report is borne out of just sd card logs.

To Reproduce

  1. Enable ESC telemetry on serial port
  2. Enable Mavlink transmission by adding ESC_STATUS message at 100 Hz and in the log by adding logger_topics.txt file with unlimited logging.
  3. Arm the drone and check mavlink/mavros message rate.

Expected behavior

I would expect that there are no computational capability difference between these boards except that the orangeplus should be faster. So, I would expect that the ESC telemetry would only be limited by the total time taken for the message to be sent and the response to be received. 80 Hz seems to be expected with the round-robin scheme but 33 seems odd.

Screenshot / Media

No response

Flight Log

https://review.px4.io/plot_app?log=9a7e9c65-4ff1-4373-87c2-0f267cf6eb3e

Software Version

NuttShell (NSH) NuttX-11.0.0 nsh> ver all HW arch: CUBEPILOT_CUBEORANGEPLUS PX4 git-hash: 640d0d8c5eac22dfb2da0ada655b2c12363e8e74 PX4 version: 1.14.0 0 (17694720) PX4 git-branch: agile_nmpc_1.14 OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: de41e7feaeffaec3ce65327e9569e8fdb553ca3d Build datetime: Sep 12 2023 16:05:20 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599] PX4GUID: 000600000000373639313032511400400027 MCU: STM32H7[4|5]xxx, rev. V

Flight controller

Cube Orange Plus

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response

parakhm95 commented 9 months ago

This might be an issue with the ESC itself, we are checking again on our side.

parakhm95 commented 9 months ago

Whoever stumbles upon this in the future, the BLHELI v32.9(updated from 32.8) on the Mamba F55 4-in-1 ESC gave us 80Hz telemetry on Pixhawk 4 with v1.13.2 and 100Hz on Pixhawk Cube Orange Plus with v1.14.0. Not sure if PX4 firmware or hardware explains the Hz difference but the uplift from 33Hz to 80 or 100 was due to the new BLHELI firmware.