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AP_BLHeli: don't log invalid bi-dir dshot values as they are never used

This commit is contained in:
Andy Piper 2021-01-26 16:28:58 +00:00 committed by Andrew Tridgell
parent 9249b73e8b
commit 2395018000
1 changed files with 12 additions and 12 deletions
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24
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1451,9 +1451,9 @@ void AP_BLHeli::read_telemetry_packet(void)
&& td.timestamp_ms - last_log_ms[last_telem_esc] > 100) {
if (has_bidir_dshot(last_telem_esc)) {
trpm = hal.rcout->get_erpm(last_telem_esc);
if (trpm != 0xFFFF) {
trpm = trpm * 200 / motor_poles;
const uint16_t erpm = hal.rcout->get_erpm(last_telem_esc);
if (erpm != 0xFFFF) { // don't log invalid values
trpm = erpm * 200 / motor_poles;
}
terr = hal.rcout->get_erpm_error_rate(last_telem_esc);
}
@ -1503,17 +1503,17 @@ void AP_BLHeli::log_bidir_telemetry(void)
if (has_bidir_dshot(last_telem_esc)) {
uint16_t trpm = hal.rcout->get_erpm(last_telem_esc);
if (trpm != 0xFFFF) {
const float terr = hal.rcout->get_erpm_error_rate(last_telem_esc);
if (trpm != 0xFFFF) { // don't log invalid values as they are never used
trpm = trpm * 200 / motor_poles;
}
float terr = hal.rcout->get_erpm_error_rate(last_telem_esc);
logger->Write_ESC(uint8_t(last_telem_esc),
AP_HAL::micros64(),
trpm*100U,
0, 0, 0, 0,
terr);
last_log_ms[last_telem_esc] = now;
logger->Write_ESC(uint8_t(last_telem_esc),
AP_HAL::micros64(),
trpm*100U,
0, 0, 0, 0,
terr);
last_log_ms[last_telem_esc] = now;
}
if (debug_level >= 2) {
hal.console->printf("ESC[%u] RPM=%u e=%.1f t=%u\n", last_telem_esc, trpm, terr, (unsigned)AP_HAL::millis());