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AP_OSD: generalise ESC telemetry to allow data from other ESCs

This commit is contained in:
Andy Piper 2021-02-23 22:05:37 +00:00 committed by Andrew Tridgell
parent fcc8853244
commit 45e1b56f17
2 changed files with 23 additions and 42 deletions
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10
libraries/AP_OSD/AP_OSD.h
View File

@ -19,7 +19,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_BLHeli/AP_BLHeli.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h>
@ -155,13 +155,11 @@ private:
AP_OSD_Setting aspd1{false, 0, 0};
AP_OSD_Setting aspd2{false, 0, 0};
AP_OSD_Setting vspeed{true, 24, 9};
#ifdef HAVE_AP_BLHELI_SUPPORT
#if HAL_WITH_ESC_TELEM
AP_OSD_Setting blh_temp {false, 24, 13};
AP_OSD_Setting blh_rpm{false, 22, 12};
AP_OSD_Setting blh_amps{false, 24, 14};
#endif
AP_OSD_Setting gps_latitude{true, 9, 13};
AP_OSD_Setting gps_longitude{true, 9, 14};
AP_OSD_Setting roll_angle{false, 0, 0};
@ -228,13 +226,11 @@ private:
//helper functions
void draw_speed(uint8_t x, uint8_t y, float angle_rad, float magnitude);
void draw_distance(uint8_t x, uint8_t y, float distance);
#ifdef HAVE_AP_BLHELI_SUPPORT
#if HAL_WITH_ESC_TELEM
void draw_blh_temp(uint8_t x, uint8_t y);
void draw_blh_rpm(uint8_t x, uint8_t y);
void draw_blh_amps(uint8_t x, uint8_t y);
#endif
void draw_gps_latitude(uint8_t x, uint8_t y);
void draw_gps_longitude(uint8_t x, uint8_t y);
void draw_roll_angle(uint8_t x, uint8_t y);

55
libraries/AP_OSD/AP_OSD_Screen.cpp
View File

@ -343,8 +343,7 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Description: Vertical position on screen
// @Range: 0 15
AP_SUBGROUPINFO(vspeed, "VSPEED", 20, AP_OSD_Screen, AP_OSD_Setting),
#ifdef HAVE_AP_BLHELI_SUPPORT
#if HAL_WITH_ESC_TELEM
// @Param: BLHTEMP_EN
// @DisplayName: BLHTEMP_EN
// @Description: Displays first esc's temp
@ -393,7 +392,6 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Range: 0 15
AP_SUBGROUPINFO(blh_amps, "BLHAMPS", 23, AP_OSD_Screen, AP_OSD_Setting),
#endif
// @Param: GPSLAT_EN
// @DisplayName: GPSLAT_EN
// @Description: Displays GPS latitude
@ -1605,52 +1603,39 @@ void AP_OSD_Screen::draw_vspeed(uint8_t x, uint8_t y)
}
}
#ifdef HAVE_AP_BLHELI_SUPPORT
#if HAL_WITH_ESC_TELEM
void AP_OSD_Screen::draw_blh_temp(uint8_t x, uint8_t y)
{
AP_BLHeli *blheli = AP_BLHeli::get_singleton();
if (blheli) {
AP_BLHeli::telem_data td;
// first parameter is index into array of ESC's. Hardwire to zero (first) for now.
if (!blheli->get_telem_data(0, td)) {
return;
}
// AP_BLHeli & blh = AP_BLHeli::AP_BLHeli();
uint8_t esc_temp = td.temperature;
backend->write(x, y, false, "%3d%c", (int)u_scale(TEMPERATURE, esc_temp), u_icon(TEMPERATURE));
int16_t etemp;
// first parameter is index into array of ESC's. Hardwire to zero (first) for now.
if (!AP::esc_telem().get_temperature(0, etemp)) {
return;
}
uint8_t esc_temp = uint8_t(etemp);
backend->write(x, y, false, "%3d%c", (int)u_scale(TEMPERATURE, esc_temp), u_icon(TEMPERATURE));
}
void AP_OSD_Screen::draw_blh_rpm(uint8_t x, uint8_t y)
{
AP_BLHeli *blheli = AP_BLHeli::get_singleton();
if (blheli) {
AP_BLHeli::telem_data td;
// first parameter is index into array of ESC's. Hardwire to zero (first) for now.
if (!blheli->get_telem_data(0, td)) {
return;
}
backend->write(x, y, false, "%3.1f%c%c", td.rpm * 0.001f, SYM_KILO, SYM_RPM);
float rpm;
// first parameter is index into array of ESC's. Hardwire to zero (first) for now.
if (!AP::esc_telem().get_rpm(0, rpm)) {
return;
}
backend->write(x, y, false, "%3.1f%c%c", uint16_t(rpm) * 0.001f, SYM_KILO, SYM_RPM);
}
void AP_OSD_Screen::draw_blh_amps(uint8_t x, uint8_t y)
{
AP_BLHeli *blheli = AP_BLHeli::get_singleton();
if (blheli) {
AP_BLHeli::telem_data td;
// first parameter is index into array of ESC's. Hardwire to zero (first) for now.
if (!blheli->get_telem_data(0, td)) {
return;
}
float esc_amps = td.current * 0.01;
backend->write(x, y, false, "%4.1f%c", esc_amps, SYM_AMP);
float esc_amps;
// first parameter is index into array of ESC's. Hardwire to zero (first) for now.
if (!AP::esc_telem().get_current(0, esc_amps)) {
return;
}
backend->write(x, y, false, "%4.1f%c", esc_amps, SYM_AMP);
}
#endif //HAVE_AP_BLHELI_SUPPORT
#endif
void AP_OSD_Screen::draw_gps_latitude(uint8_t x, uint8_t y)
{