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AP_ToshibaCAN: add accessors for use by scripts

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This commit is contained in:
Randy Mackay 2020-01-29 20:50:05 +09:00
parent 2bc91cbc4d
commit 415ba0f40d
2 changed files with 12 additions and 0 deletions
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9
libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp
View File

@ -552,6 +552,15 @@ void AP_ToshibaCAN::send_esc_telemetry_mavlink(uint8_t mav_chan)
}
}
// return total usage time in seconds
uint32_t AP_ToshibaCAN::get_usage_seconds(uint8_t esc_id) const
{
if (esc_id >= TOSHIBACAN_MAX_NUM_ESCS) {
return 0;
}
return _telemetry[esc_id].usage_sec;
}
// helper function to create motor_request_data_cmd_t
AP_ToshibaCAN::motor_request_data_cmd_t AP_ToshibaCAN::get_motor_request_data_cmd(uint8_t request_id) const
{

3
libraries/AP_ToshibaCAN/AP_ToshibaCAN.h
View File

@ -44,6 +44,9 @@ public:
// return a bitmask of escs that are "present" which means they are responding to requests. Bitmask matches RC outputs
uint16_t get_present_mask() const { return _esc_present_bitmask; }
// return total usage time in seconds
uint32_t get_usage_seconds(uint8_t esc_id) const;
private:
// loop to send output to ESCs in background thread