Common: AM32 DroneCan gets firmware update instructions

common/source/docs/common-am32-escs.rst

@@ -22,7 +22,7 @@ More ESCs may be found from the `AM32 targets.h <https://github.com/am32-firmwar
 ArduPilot Configuration
 =======================
 
-To enable communication with the AM32 ESCs using DroneCAN, set the following parameters
+To enable communication with the AM32 ESCs using DroneCAN, set the following parameters:
 
 - Set :ref:`CAN_P1_DRIVER <CAN_P1_DRIVER>` = 1 (First driver) to specify that the ESCs are connected to the CAN1 port
 - Set :ref:`CAN_D1_PROTOCOL <CAN_D1_PROTOCOL>` = 1 (DroneCAN)
@@ -33,16 +33,50 @@ To enable communication with the AM32 ESCs using DroneCAN, set the following par
 - Set ``SERVOx_MIN`` = 1000 and ``SERVOx_MAX`` = 2000 for each ESC connected (``x`` corresponds to the ESC number) so ArduPilot uses an output range that matches the ESCs input range
 [/site]
 - Set ``SERVOx_FUNCTION`` to each motor channel (e.g. 33 - 40 for motors 1 - 8). This is automatically configured when setting frame class/type. If a motor channel isn't assigned to a servo output, commands won't be sent to the associated ESC.
+- :ref:`CAN_D1_UC_ESC_BM <CAN_D1_PC_ESC_BM>` is a bitmask that determines which servo output channels are transmitted over CAN.  For quadcopters this is normally "15"
+- :ref:`CAN_D1_UC_ESC_OF <CAN_D1_UC_ESC_OF>` allows for more efficient packing of ESC command messages when ESCs are connected to higher servo outputs (e.g. 5 to 8).  For most vehicles this can be left at zero
+- :ref:`CAN_D1_UC_ESC_RV <CAN_D1_UC_ESC_RV>` allows specifying which ESCs support spinning in reverse
 
-By default, all configured motor channels are used to send control commands to the ESCs. These control messages are transmitted by the autopilot at a default rate of 50Hz. These parameters can be modified using:
+ESC Firmware Updates
+====================
 
-- :ref:`CAN_D1_PC_ESC_BM <CAN_D1_PC_ESC_BM>` is a bitmask that determines which ESC (motor) channels are transmitted over CAN
-- :ref:`CAN_D1_PC_ESC_RT <CAN_D1_PC_ESC_RT>` determines the rate (Hz) at which commands are sent out to the ESCs
+The latest firmwares can be found on the `am32.ca downloads page <https://am32.ca/downloads>`__
+
+To update the ESCs firmware using Mission Planner:
+
+.. image:: ../../../images/am32-dronecan-escs-firmwareupdate-with-MP.png
+    :width: 450px
+
+- Download the firmware from the `am32.ca downloads page <https://am32.ca/downloads>`__
+- Power on the autopilot and ESCs
+- Connect to the autopilot using Mission Planner
+- Open Mission Planner's Setup, Optional Hardware, DroneCAN/UAVCAN page
+- Select "MAVLinkCAN1" from the drop-down (assuming the ESCs are connected to the autopilot's CAN1 port) and press Connect
+- The ESCs should appear in the list of connected devices
+- For each ESC listed, push the "Menu" button on the right and select "Update"
+- When asked, "Do you want to search the internet for an update?", push "No" and select the firmware downloaded above
+- After the firmware is uploaded, check the "SW Version" column shows the expected version
 
 ESC Configuration
 =================
 
-The AM32 ESCs can be setup using the :ref:`DroneCAN GUI Tool <common-uavcan-gui>` with the ESC connected to the autopilot, or alternatively, the `AM32 configurator <https://am32.ca/configurator>`__ can be used by directly connecting to the ESC's PWM connection
+If the ESCs are already connected to the autopilot (via DroneCAN), they can be configured using Mission Planner's DroneCAN/UAVCAN page or the :ref:`DroneCAN GUI Tool <common-uavcan-gui>`.  Alternatively, the `AM32 configurator <https://am32.ca/configurator>`__ can be used by directly connecting to the ESC's PWM connection.
+
+In most cases at least some of the following parameters will need to be changed:
+
+- ESC_INDEX: The motor number - 1.  For multicopters the motor number and position are shown on the :ref:`ESCs and Motors wiki page <copter:connect-escs-and-motors>`
+- DIR_REVERSED: the motor direction.  Use Mission Planner's motor test page to check the direction and change this parameter if necessary
+- MOTOR_POLES: the number of poles in the motor
+- MOTOR_KV: the motor's KV rating
+
+To change the above parameters using Mission Planner:
+
+- Power on the autopilot and ESCs
+- Connect to the autopilot using Mission Planner
+- Open Mission Planner's Setup, Optional Hardware, DroneCAN/UAVCAN page
+- Select "MAVLinkCAN1" from the drop-down (assuming the ESCs are connected to the autopilot's CAN1 port) and press Connect
+- For each ESC listed, push the "Menu" button on the right and select "Parameters"
+- Change the parameters as required and press, "Write Params"
 
 Logging and Reporting
 ---------------------