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Body Checkout Procedure

The body checkout procedure should take place for the body with motherboard, pizza boards and ESCs available.

Important

This step is designed to test the correct operation of the ESC with a test motor

Equipment

To perform this checkout, you will need the following:

  • The body with the MB, Pizza and ESCs to test.
  • A CAN interface (USBtingo or similar), along with a wire to connect to the ESC.
  • A power supply (48V/2A)
  • The test motor (fixed motor parameter set is used during testing)
  • A computer with the highdra CLI installed.

Setup

Before starting, connect the CAN interface and power to the motherboard (CAN3; CAN-FD).

Powering on

Activate the power supply and the motherboard should boot.

Procedure

Now comes the automated checkout procedure: run highdra body checkout, and follow the instructions on the screen.

First, select the CAN interface to use. Normally you should only have a single one, but if you have multiple connected, select the one you connected to the charging hub.

PS C:\Users\lasse> highdra esc checkout
? CAN3 interface CAN FD
   socketcan:can0
   socketcan:can1
 » usbtingo:1731625A

Tip

If you have to run the checkout procedure multiple times and already know which CAN interface to use, you can also specify it as a command line argument:

PS C:\Users\lasse> highdra battery checkout --can=usbtingo:1731625A

▸ Running Software Update.
[...]

From there on, the procedure will run more or less automatically.

Sample Output 
PS C:\Users\lasse> highdra esc checkout
    ? CAN1 interface usbtingo:1731E9EE
    ... TODO: to be filled ...
  1. Perform all the necessary checks to confirm the Motherboard is working correctly (check temps and voltages)
  2. User input: "Confirm all ESCs are disconnected from the CAN Bus (y/n)"
  3. User input: "Connect the ESC in position 1 to the CAN Bus, by connecting the wire to the socket next to the Micro-USB"
  4. Once the Heartbeat is received set the Node ID to 1 and reboot
  5. ... repeat 2.+3. for all ESCs
  6. Perform self-test on all ESCs and check results
  7. Upload the latest ESC Parameter file to all ESCs and reboot
  8. Configure (Node 1) ESCs cyphal port "uavcan.sub.setpoint_velocity.id" to a valid number and reboot
  9. User input: "Connect the Test-Motor to Arm Slot 1 and confirm (y/n)"
  10. User input: "Confirm the Motor is free to spin (y/n)"
  11. Spin Motor for 10 seconds with 30rad/s
  12. User input: "Confirm the Motor is spinning counter-clockwise"
  13. Reconfigure port "uavcan.sub.setpoint_velocity.id" to 65536 and reboot
  14. ... repeat 8.-13. for all ESCs

CheckHeartbeat

This test tests the Cyphal communication via CAN. It expects a node with providing information. The name should match "com.zubax.telega".

Check MB publishing

The motherboard should publish the following cyphal messages:

  • MBData (if new MB; running Zephyr)
    • checked against plausible analog measurements, e.g. 48V, ...
  • NavlightSyncPulse
  • GearSetpoint

Enumerate ESCs

This leads through ESC configuration. After this step, the ESCs have a fixed Node ID for their corresponding clock position, one of 1, 3, 5, 7, 9, 11.

Selftest

The ESC (Myxa with telegra firmware) offers an internal selftest, which is executed here. It requires an (any) attached motor.

SetMotorParameters, Reboot, ValidateMotorParameters

The test SetMotorParameters, with the following Reboot and ValidateMotorParameters configures the ESC for the test motor to be spinned in the following.

SpinMotor

This test turns the motor slowly in the arms configured directions (alternating clock and counter-clockwise).