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AP_BLHeli: Console output can be disabled

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murata 2022-03-21 18:34:10 +09:00 committed by Andrew Tridgell
parent a78dceb5a0
commit 8d1b1a2caf
1 changed files with 2 additions and 3 deletions
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5
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1468,7 +1468,7 @@ void AP_BLHeli::read_telemetry_packet(void)
trpm = trpm * 200 / motor_poles; trpm = trpm * 200 / motor_poles;
} }
} }
hal.console->printf("ESC[%u] T=%u V=%f C=%f con=%f RPM=%u e=%.1f t=%u\n", DEV_PRINTF("ESC[%u] T=%u V=%f C=%f con=%f RPM=%u e=%.1f t=%u\n",
last_telem_esc, last_telem_esc,
t.temperature_cdeg, t.temperature_cdeg,
t.voltage, t.voltage,
@ -1490,13 +1490,12 @@ void AP_BLHeli::log_bidir_telemetry(void)
if (has_bidir_dshot(last_telem_esc)) { if (has_bidir_dshot(last_telem_esc)) {
const uint8_t motor_idx = motor_map[last_telem_esc]; const uint8_t motor_idx = motor_map[last_telem_esc];
uint16_t trpm = hal.rcout->get_erpm(motor_idx); uint16_t trpm = hal.rcout->get_erpm(motor_idx);
const float terr = hal.rcout->get_erpm_error_rate(motor_idx);
if (trpm != 0xFFFF) { // don't log invalid values as they are never used if (trpm != 0xFFFF) { // don't log invalid values as they are never used
trpm = trpm * 200 / motor_poles; trpm = trpm * 200 / motor_poles;
} }
last_log_ms[last_telem_esc] = now; last_log_ms[last_telem_esc] = now;
hal.console->printf("ESC[%u] RPM=%u e=%.1f t=%u\n", last_telem_esc, trpm, terr, (unsigned)AP_HAL::millis()); DEV_PRINTF("ESC[%u] RPM=%u e=%.1f t=%u\n", last_telem_esc, trpm, hal.rcout->get_erpm_error_rate(motor_idx), (unsigned)AP_HAL::millis());
} }
} }