Why the esc_status frequency is much lower than Dshot frequency when bidirectional dshot is enabled

PX4 Autopilot
1

Dear all,

I am curious about what determines the frequency of the bidirectional DShot feedback (ESC status). When I attempt direct motor control via ROS2 at a frequency of 500 Hz, I observe the following in the working queue, indicating that the DShot is running at 500 Hz:

Work Queue: 10 threads                          RATE        INTERVAL
|__ 1) wq:rate_ctrl    
|   |__ 1) control_allocator                 20.0 Hz        49996 us
|   |__ 2) dshot                            500.0 Hz         2000 us
|   |__ 3) mc_rate_control                 2003.1 Hz          499 us
|   \__ 4) vehicle_angular_velocity        2003.1 Hz          499 us
|__ 2) wq:SPI1         
...

I have increased the DDS frequency under the suggestion mentioned in this question

However, the frequency of esc_status is only ~45 Hz by ros2 topic hz /fmu/out/esc_status.

average rate: 42.159
	min: 0.015s max: 0.051s std dev: 0.01121s window: 43
average rate: 42.865
	min: 0.014s max: 0.083s std dev: 0.01229s window: 87
average rate: 42.028
	min: 0.014s max: 0.083s std dev: 0.01260s window: 128
average rate: 44.132
	min: 0.009s max: 0.083s std dev: 0.01174s window: 179
average rate: 45.366
	min: 0.009s max: 0.083s std dev: 0.01109s window: 230
average rate: 45.637
	min: 0.009s max: 0.083s std dev: 0.01079s window: 278
average rate: 45.315
	min: 0.009s max: 0.083s std dev: 0.01099s window: 323

I also noticed that when I decrease the Dshot frequency, the frequency of esc_status decreases as well. Is there any correlation between the two?

Additionally, I’m wondering how I can increase the feedback frequency of the esc_status.

Thank you all!

2

@Benja @farhang sorry to bother you, but I would really appreciate it if you or someone you know is familiar with the Dshot component. :face_holding_back_tears: