Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RCTelemetry: use get_max_rpm_esc()

This commit is contained in:
Andy Piper 2024-05-22 17:21:06 +01:00 committed by Andrew Tridgell
parent 451c1ae347
commit 651f4f15eb
1 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp
View File

@ -578,11 +578,17 @@ void AP_Spektrum_Telem::calc_gps_status()
void AP_Spektrum_Telem::calc_esc() void AP_Spektrum_Telem::calc_esc()
{ {
#if HAL_WITH_ESC_TELEM #if HAL_WITH_ESC_TELEM
const volatile AP_ESC_Telem_Backend::TelemetryData& td = AP::esc_telem().get_telem_data(0); // ideally should rotate between ESCs uint8_t esc = AP::esc_telem().get_max_rpm_esc();
const volatile AP_ESC_Telem_Backend::TelemetryData& td = AP::esc_telem().get_telem_data(esc); // ideally should rotate between ESCs
float rpm = 0.0f;
uint16_t rpmdata = 0xFFFFU;
if (AP::esc_telem().get_rpm(esc, rpm)) {
rpmdata = uint16_t(roundf(rpm));
}
_telem.esc.identifier = TELE_DEVICE_ESC; // Source device = 0x20 _telem.esc.identifier = TELE_DEVICE_ESC; // Source device = 0x20
_telem.esc.sID = 0; // Secondary ID _telem.esc.sID = 0; // Secondary ID
_telem.esc.RPM = htobe16(uint16_t(roundf(AP::esc_telem().get_average_motor_frequency_hz() * 60))); // Electrical RPM, 10RPM (0-655340 RPM) 0xFFFF --> "No data" _telem.esc.RPM = htobe16(rpmdata); // Electrical RPM, 10RPM (0-655340 RPM) 0xFFFF --> "No data"
_telem.esc.voltsInput = htobe16(td.voltage * 100); // Volts, 0.01v (0-655.34V) 0xFFFF --> "No data" _telem.esc.voltsInput = htobe16(td.voltage * 100); // Volts, 0.01v (0-655.34V) 0xFFFF --> "No data"
_telem.esc.tempFET = htobe16(td.temperature_cdeg * 10); // Temperature, 0.1C (0-6553.4C) 0xFFFF --> "No data" _telem.esc.tempFET = htobe16(td.temperature_cdeg * 10); // Temperature, 0.1C (0-6553.4C) 0xFFFF --> "No data"
_telem.esc.currentMotor = htobe16(td.current * 100); // Current, 10mA (0-655.34A) 0xFFFF --> "No data" _telem.esc.currentMotor = htobe16(td.current * 100); // Current, 10mA (0-655.34A) 0xFFFF --> "No data"