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PX4 / sapog

Sapog - advanced multiplatform ESC firmware
https://kb.zubax.com/x/cYAh
BSD 3-Clause "New" or "Revised" License
201 stars 139 forks source link

Support UAVCAN v1.0 #42

Open pavel-kirienko opened 4 years ago

pavel-kirienko commented 4 years ago

https://forum.uavcan.org/t/uavcan-2019-roadmap/666

aentinger commented 4 years ago

Good morning @pavel-kirienko :wave: I'm part of a small group building a Arduino MKR Vidor 4000 (that's the Arduino with the FPGA) based quadcopter flight controller for Micro UAVs using Zubax Orel 20 as ESCs. As a part of this effort we are building an Arduino UAVCAN library ( 107-Arduino-UAVCAN ) based on libcanard.

Naturally we are using the latest version of libcanard which already has support for UAVCAN 1.0. Unfortunately the Zubax Orel 20 still run the legacy-v0 version of the protocol and we've been wondering if you can provide an estimate when the sapog firmware will be upgraded to using UAVCAN 1.0? We already have Zubax Orel 20 hardware available and would offer our services in testing any firmware change making the 1.0 protocol available.

CC / @generationmake @per1234

pavel-kirienko commented 4 years ago

We are aiming at early June. If you could lend us a hand here, it would be appreciated. Also, may you be interested in sharing the info about your project at the UAVCAN forum?

aentinger commented 4 years ago

Thank you for letting me know. Early June sounds good to me as we also need some time to get 107-Arduino-UAVCAN into usable shape. We've got experienced firmware engineers on the team so building and testing any sapog changes are well within our ability 😉 I'd love to share on the UAVCAN forum, which category do you think would be best suited and what exactly do you want me to share (focus on the Arduino UAVCAN abstraction or the whole project?).

pavel-kirienko commented 4 years ago

We've got experienced firmware engineers on the team so building and testing any sapog changes are well within our ability

What I meant is that if your engineers could help us integrate libcanard v1 here instead of libuavcan v0, that would be great. But testing also helps.

I'd love to share on the UAVCAN forum, which category do you think would be best suited and what exactly do you want me to share (focus on the Arduino UAVCAN abstraction or the whole project?).

This category works best: https://forum.uavcan.org/c/app (the libcanard subcategory is also probably acceptable depending on the scope of your post). I think we want the full context.

aentinger commented 4 years ago

Good morning :wave: I don't want to promise something we can't deliver (due to time constraints mostly) but we'll give it a try :rocket:

coderkalyan commented 3 years ago

Hey all, just wanted to mention that I'm interested in getting Sapog-compatible ESCs and migrating sapog to UAVCANv1 this summer (although I can't provide a timeline at this point). Trouble is actually getting sapog ESCs, since kotleta20 is semi-permanently out of stock due to chip shortages and Orel 20 is out of my budget. Perhaps I'll design a board.