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AP_DroneCAN: populate ESC power percentage

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Iampete1 2024-02-02 13:34:01 +00:00 committed by Peter Hall
parent a974f3fd42
commit 8ec3d0f0a9
1 changed files with 8 additions and 1 deletions
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9
libraries/AP_DroneCAN/AP_DroneCAN.cpp
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@ -1447,14 +1447,21 @@ void AP_DroneCAN::handle_ESC_status(const CanardRxTransfer& transfer, const uavc
.temperature_cdeg = int16_t((KELVIN_TO_C(msg.temperature)) * 100), .temperature_cdeg = int16_t((KELVIN_TO_C(msg.temperature)) * 100),
.voltage = msg.voltage, .voltage = msg.voltage,
.current = msg.current, .current = msg.current,
#if AP_EXTENDED_ESC_TELEM_ENABLED
.power_percentage = msg.power_rating_pct,
#endif
}; };
update_rpm(esc_index, msg.rpm, msg.error_count); update_rpm(esc_index, msg.rpm, msg.error_count);
update_telem_data(esc_index, t, update_telem_data(esc_index, t,
(isnan(msg.current) ? 0 : AP_ESC_Telem_Backend::TelemetryType::CURRENT) (isnan(msg.current) ? 0 : AP_ESC_Telem_Backend::TelemetryType::CURRENT)
| (isnan(msg.voltage) ? 0 : AP_ESC_Telem_Backend::TelemetryType::VOLTAGE) | (isnan(msg.voltage) ? 0 : AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)
| (isnan(msg.temperature) ? 0 : AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE)); | (isnan(msg.temperature) ? 0 : AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE)
#if AP_EXTENDED_ESC_TELEM_ENABLED
| AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE
#endif #endif
);
#endif // HAL_WITH_ESC_TELEM
} }
#if AP_EXTENDED_ESC_TELEM_ENABLED #if AP_EXTENDED_ESC_TELEM_ENABLED