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AP_BLHeli: log telemetry at 10Hz

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This commit is contained in:
Andy Piper 2020-06-22 21:20:15 +01:00 committed by Peter Barker
parent 2e55584417
commit 90acff647c
2 changed files with 7 additions and 2 deletions
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7
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1419,7 +1419,9 @@ void AP_BLHeli::read_telemetry_packet(void)
last_telem[last_telem_esc].count++;
AP_Logger *logger = AP_Logger::get_singleton();
if (logger && logger->logging_enabled()) {
if (logger && logger->logging_enabled()
// log at 10Hz
&& td.timestamp_ms - last_log_ms[last_telem_esc] > 100) {
logger->Write_ESC(uint8_t(last_telem_esc),
AP_HAL::micros64(),
td.rpm*100U,
@ -1428,7 +1430,9 @@ void AP_BLHeli::read_telemetry_packet(void)
td.temperature * 100U,
td.consumption,
0);
last_log_ms[last_telem_esc] = td.timestamp_ms;
}
if (debug_level >= 2) {
hal.console->printf("ESC[%u] T=%u V=%u C=%u con=%u RPM=%u t=%u\n",
last_telem_esc,
@ -1544,4 +1548,3 @@ void AP_BLHeli::send_esc_telemetry_mavlink(uint8_t mav_chan)
}
#endif // HAVE_AP_BLHELI_SUPPORT

2
libraries/AP_BLHeli/AP_BLHeli.h
View File

@ -226,6 +226,8 @@ private:
uint8_t num_motors;
struct telem_data last_telem[max_motors];
// last log output to avoid beat frequencies
uint32_t last_log_ms[max_motors];
// previous motor rpm so that changes can be slewed
float prev_motor_rpm[max_motors];