[WIP] Voltage inconsistency checks on ESCs reporting esc_status #12647
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Signed-off-by: Claudio Micheli <claudio@auterion.com>
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This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
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@cmic0 Can we close this? |
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Closing as stale. @cmic0 Please open a new PR if this is still relevant. |
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Confirm - no longer relevant |
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Describe problem solved by the proposed pull request
This PR is an incremental piece of #12641 and adds voltage inconsistency checks for ESCs reporting their status (i.e UAVCAN escs).
The check evaluates the delta between each ESC reported voltage and battery voltage. If the delta is greater than 0.5V for more than 2 seconds then a warning message is displayed.
The introduced check is useful to identify critical hardware issues such as bad connection between the power rail and the ESC that may cause voltage drops.
Currently the threshold values are hard-coded; early tests have provided good results but further testing will follow to have better coverage on false positives.
Test data / coverage
Coverage will be provided soon
FYI @RomanBapst @bkueng