Add interface for automatic motor reversion detection #2760

Williangalvani · 2024-06-28T02:04:30Z

Screen.Recording.2024-06-29.at.00.17.43.mov

ES-Alexander

If the vehicle fails to arm before a motor test because it is not in manual mode, there should be a button option to switch to manual mode (instead of just giving an error message). Alternatively the "arm" toggle could be reconfigured to automatically switch to manual mode as part of the arming process.

During the test it would be good if we can display the MAVLink INFO and WARNING status texts that get generated.

If the test fails, it would be good to display the following to help with troubleshooting:

Motor testing will fail due to any unexpected motions of the vehicle. Here are some common failure causes, and potential solutions:

Cause	Solutions
no movement	- ensure the vehicle is in the water - ensure the ESC is powered and receiving valid signals - ensure the thruster is connected to the ESC
external movement	- ensure the vehicle is in calm water
poor movement estimation	- ensure the sensors are well calibrated - ensure the vehicle is not too close to large magnetic disturbances
incorrect frame selection	- choose the frame that matches your vehicle (or make a custom one) - ensure the frame's motion contribution factors suit the positions and orientations of your thrusters relative to the vehicle's centers of mass and volume (you may need to trim with ballast and/or buoyancy)
incorrect motor mapping	- ensure the thrusters are connected to the correct output channels of the flight controller, and in the correct order to match the frame numbering

If necessary it is possible to manually test and set the motor spin directions instead.

core/frontend/src/components/vehiclesetup/MotorDetection.vue

ES-Alexander · 2024-06-28T18:50:02Z

Potential image design:

patrickelectric

The image is not showing here:

Can we justify the text as well ?

core/frontend/src/components/vehiclesetup/MotorDetection.vue

core/frontend/src/utils/ardupilot_mavlink.ts

core/frontend/src/components/vehiclesetup/MotorDetection.vue

patrickelectric · 2024-07-08T11:23:16Z

Is it possible to finish this before tomorrow ? We kind of need it for the stable release.

Williangalvani · 2024-07-08T13:00:12Z

Is it possible to finish this before tomorrow ? We kind of need it for the stable release.

yep, planning to wrap it up today

patrickelectric · 2024-07-08T15:18:07Z

core/frontend/src/components/vehiclesetup/PwmSetup.vue

    },
    disarm() {
-      this.armDisarm(false, true)
+      armDisarm(false, true)


Missing await here, right ?

we dont have to have an await there, unlike python, js will run the code regardless. as (now) there's nothing after it, I don't see the need. it would probably require a bunch of ther asyncs around the code. but I can do it if you want.

I did realise there was duplicated logic and removed the timeout, though, as we do have a timeout in the helper functions

ES-Alexander

SMS color requests

core/frontend/src/components/utils/themedSVG.vue

core/frontend/public/img/icons/motordetection.svg

ES-Alexander

I still can't see the image (including in incognito mode)
- Patrick also mentioned this in an earlier review
The status updates are inconsistent / sometimes get missed:
The status text looks a bit too 'normal', especially when the test fails (at which point it just kind of looks like a description)
- it would be nice if we could colour it based on severity (e.g. --success for steps that work, --warning for bad thrust, and --critical for failure)

ES-Alexander

Nice work! :D

I've confirmed the image is appearing now, and I was unable to replicate the earlier issue where some of the status text was getting missed :-)

Some minor suggestions around clarity and neatness. Feel free to merge afterwards :-)

core/frontend/src/components/vehiclesetup/MotorDetection.vue

done

Williangalvani force-pushed the motor_detect branch from 35c49b5 to 286ef98 Compare June 28, 2024 02:06

Williangalvani changed the title ~~Motor detect~~ Add interface for automatic motor reversion detection Jun 28, 2024

Williangalvani force-pushed the motor_detect branch from 131e967 to c6656a1 Compare June 28, 2024 02:27

ES-Alexander requested changes Jun 28, 2024

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Williangalvani force-pushed the motor_detect branch from c6656a1 to 81d5c58 Compare June 28, 2024 18:42

Williangalvani force-pushed the motor_detect branch 7 times, most recently from ed5ad80 to d44ee6b Compare July 2, 2024 18:10

Williangalvani marked this pull request as ready for review July 2, 2024 18:10

Williangalvani requested review from joaoantoniocardoso, joaomariolago and patrickelectric July 2, 2024 18:10

patrickelectric requested changes Jul 2, 2024

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Williangalvani force-pushed the motor_detect branch from d44ee6b to ee61179 Compare July 4, 2024 19:55

ES-Alexander mentioned this pull request Jul 5, 2024

core: frontend: explanatory diagrams: use themeable colours #2787

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Williangalvani force-pushed the motor_detect branch 2 times, most recently from 62c3656 to 0f194f0 Compare July 8, 2024 15:11

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Williangalvani force-pushed the motor_detect branch from 2f16481 to 395f776 Compare July 8, 2024 15:48

Williangalvani requested review from ES-Alexander and patrickelectric July 8, 2024 20:29

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ES-Alexander requested changes Jul 9, 2024

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Williangalvani added 3 commits July 8, 2024 22:12

Frontend: Fix StatusTextWatcher filter

a03171e

frontend: create ardusub.ts for ardusub firmware specific logic

c7aea7f

frontend: refactor some mavlink functionality into ardupilot_mavlink.ts

fdc1e69

Williangalvani force-pushed the motor_detect branch from 395f776 to 14c2055 Compare July 9, 2024 01:12

frontend: create class for themed svg imagess

eeb0dcf

Williangalvani force-pushed the motor_detect branch 2 times, most recently from 7593843 to 7f4be9d Compare July 9, 2024 01:37

ES-Alexander previously requested changes Jul 9, 2024

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This was referenced Jul 9, 2024

core: frontend: vehicle-setup: motor reversal detection clarity suggestion #2801

Open

Motor test says it's not in manual mode (but it is) after motor test timed out #1854

Closed

Williangalvani added 4 commits July 9, 2024 08:48

frontend: add MotorDetect functionality

d71b7be

themedSVG: update css colors

00d7aaf

Frontend: Fix StatusTextWatcher listener frequency

69b9db5

Frontend: set StatusTextWatcher textarea to disabled

b3ce1b0

Williangalvani force-pushed the motor_detect branch from d59340c to b3ce1b0 Compare July 9, 2024 11:49

Williangalvani merged commit 8979e5f into bluerobotics:master Jul 9, 2024

Williangalvani deleted the motor_detect branch July 9, 2024 12:31

ES-Alexander added the docs-needed Change needs to be documented label Aug 12, 2024

ES-Alexander mentioned this pull request Sep 26, 2024

[BlueOS-1.3] some initial updates bluerobotics/ardusub-zola#168

Merged

ES-Alexander added docs-minimal Documentation exists but should be improved and removed docs-needed Change needs to be documented labels Oct 6, 2024

Add interface for automatic motor reversion detection #2760

Add interface for automatic motor reversion detection #2760

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