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AP_RPM: enable AP_RPM to set ESC Telemetry

This commit is contained in:
Tom Pittenger 2023-08-02 14:58:57 -07:00
parent 09cdc27465
commit 1e633df3de
2 changed files with 16 additions and 2 deletions
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14
libraries/AP_RPM/AP_RPM.cpp
View File

@ -23,6 +23,7 @@
#include "RPM_Generator.h"
#include "RPM_HarmonicNotch.h"
#include "RPM_ESC_Telem.h"
#include "AP_ESC_Telem/AP_ESC_Telem.h"
#include <AP_Logger/AP_Logger.h>
@ -199,6 +200,19 @@ void AP_RPM::update(void)
}
drivers[i]->update();
#if HAL_WITH_ESC_TELEM
// Check if we need to write to esc_telem(). Note:
// RPM_TYPE_ESC_TELEM = read ESC_TELEM and store it in AP_RPM
// RPM_TYPE_EverythingElse = write to ESC_TELEM with data generated from AP_RPM
if (_params[i].type != RPM_TYPE_ESC_TELEM && _params[i].esc_mask > 0 && healthy(i)) {
for (uint32_t esc=0; esc<ESC_TELEM_MAX_ESCS; esc++) {
if (_params[i].esc_mask & (1U<<esc)) {
AP::esc_telem().update_rpm(esc, state[i].rate_rpm, 0);
}
}
}
#endif
}
}

4
libraries/AP_RPM/AP_RPM_Params.cpp
View File

@ -62,8 +62,8 @@ const AP_Param::GroupInfo AP_RPM_Params::var_info[] = {
AP_GROUPINFO("PIN", 6, AP_RPM_Params, pin, -1),
// @Param: ESC_MASK
// @DisplayName: Bitmask of ESC telemetry channels to average
// @Description: Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
// @DisplayName: Bitmask of ESC telemetry channels
// @Description: Mask of channels to use with ESC rpm telemetry. When TYPE = 5, this will fetch and average the RPM telemetry from all the selected ESC telemetry channels. For all other TYPE values, the ESC telemetry will set the RPM on the selected channel(s).
// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
// @User: Advanced
AP_GROUPINFO("ESC_MASK", 7, AP_RPM_Params, esc_mask, 0),