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AP_Vehicle: generalise ESC telemetry to allow harmonic notch handling with other ESCs

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log ESC telemetry data in frontend
This commit is contained in:
Andy Piper 2021-02-23 22:06:37 +00:00 committed by Andrew Tridgell
parent f513b1d1c2
commit 5d154b138a
2 changed files with 6 additions and 0 deletions
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4
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -175,6 +175,7 @@ void AP_Vehicle::setup()
#if GENERATOR_ENABLED #if GENERATOR_ENABLED
generator.init(); generator.init();
#endif #endif
} }
void AP_Vehicle::loop() void AP_Vehicle::loop()
@ -221,6 +222,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
SCHED_TASK(update_dynamic_notch, 200, 200), SCHED_TASK(update_dynamic_notch, 200, 200),
SCHED_TASK_CLASS(AP_VideoTX, &vehicle.vtx, update, 2, 100), SCHED_TASK_CLASS(AP_VideoTX, &vehicle.vtx, update, 2, 100),
SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20), SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20),
#if HAL_WITH_ESC_TELEM
SCHED_TASK_CLASS(AP_ESC_Telem, &vehicle.esc_telem, update, 10, 50),
#endif
#if GENERATOR_ENABLED #if GENERATOR_ENABLED
SCHED_TASK_CLASS(AP_Generator, &vehicle.generator, update, 10, 50), SCHED_TASK_CLASS(AP_Generator, &vehicle.generator, update, 10, 50),
#endif #endif

2
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -307,7 +307,9 @@ protected:
AP_VisualOdom visual_odom; AP_VisualOdom visual_odom;
#endif #endif
#if HAL_WITH_ESC_TELEM
AP_ESC_Telem esc_telem; AP_ESC_Telem esc_telem;
#endif
#if HAL_MSP_ENABLED #if HAL_MSP_ENABLED
AP_MSP msp; AP_MSP msp;