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AP_ESC_Telem: add get_max_rpm_esc()

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This commit is contained in:
Andy Piper 2024-05-22 17:20:05 +01:00 committed by Randy Mackay
parent 95d6ec919c
commit 49f9fea387
2 changed files with 27 additions and 0 deletions
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24
libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
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@ -120,6 +120,30 @@ uint32_t AP_ESC_Telem::get_active_esc_mask() const {
return ret;
}
// return an active ESC for the purposes of reporting (e.g. in the OSD)
uint8_t AP_ESC_Telem::get_max_rpm_esc() const
{
uint32_t ret = 0;
float max_rpm = 0;
const uint32_t now = AP_HAL::millis();
const uint32_t now_us = AP_HAL::micros();
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
if (_telem_data[i].last_update_ms == 0 && !was_rpm_data_ever_reported(_rpm_data[i])) {
// have never seen telem from this ESC
continue;
}
if (_telem_data[i].stale(now)
&& !rpm_data_within_timeout(_rpm_data[i], now_us, ESC_RPM_DATA_TIMEOUT_US)) {
continue;
}
if (_rpm_data[i].rpm > max_rpm) {
max_rpm = _rpm_data[i].rpm;
ret = i;
}
}
return ret;
}
// return number of active ESCs present
uint8_t AP_ESC_Telem::get_num_active_escs() const {
uint32_t active = get_active_esc_mask();

3
libraries/AP_ESC_Telem/AP_ESC_Telem.h
View File

@ -83,6 +83,9 @@ public:
// ESC_TELEM_DATA_TIMEOUT_MS
uint32_t get_active_esc_mask() const;
// return an active ESC with the highest RPM for the purposes of reporting (e.g. in the OSD)
uint8_t get_max_rpm_esc() const;
// return the last time telemetry data was received in ms for the given ESC or 0 if never
uint32_t get_last_telem_data_ms(uint8_t esc_index) const {
if (esc_index >= ESC_TELEM_MAX_ESCS) {return 0;}