From 998f93c7c92bf90cce41af346c54721838a55053 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 10 Mar 2020 09:36:59 +1100
Subject: [PATCH] AP_Periph: fixed HWESC RPM and current readings

---
 Tools/AP_Periph/can.cpp       |  2 +-
 Tools/AP_Periph/hwing_esc.cpp |  6 +++---
 Tools/AP_Periph/hwing_esc.h   | 10 +++++-----
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index e83e9d8b83..0d83b248c4 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -1119,7 +1119,7 @@ void AP_Periph_FW::hwesc_telem_update()
     pkt.current = t.current;
     pkt.temperature = t.temperature;
     pkt.rpm = t.rpm;
-    pkt.power_rating_pct = (t.load & 0x7F);
+    pkt.power_rating_pct = t.phase_current;
 
     fix_float16(pkt.voltage);
     fix_float16(pkt.current);
diff --git a/Tools/AP_Periph/hwing_esc.cpp b/Tools/AP_Periph/hwing_esc.cpp
index 4fdaa9c48c..861c4a6f4c 100644
--- a/Tools/AP_Periph/hwing_esc.cpp
+++ b/Tools/AP_Periph/hwing_esc.cpp
@@ -103,12 +103,12 @@ bool HWESC_Telem::parse_packet(void)
     decoded.counter = be32toh(pkt.counter);
     decoded.throttle_req = be16toh(pkt.throttle_req);
     decoded.throttle = be16toh(pkt.throttle);
-    decoded.rpm = be16toh(pkt.rpm);
+    decoded.rpm = be16toh(pkt.rpm) * 5.0 / 7.0; // scale from eRPM to RPM
     decoded.voltage = be16toh(pkt.voltage) * 0.1;
-    decoded.load = int16_t(be16toh(pkt.load));
+    decoded.phase_current = int16_t(be16toh(pkt.phase_current)) * 0.01;
     decoded.current = int16_t(be16toh(pkt.current)) * 0.01;
     decoded.temperature = be16toh(pkt.temperature);
-    decoded.unknown = be16toh(pkt.unknown);
+    decoded.status = be16toh(pkt.status);
 
     return true;
 }
diff --git a/Tools/AP_Periph/hwing_esc.h b/Tools/AP_Periph/hwing_esc.h
index 36928501b9..5db0d8974a 100644
--- a/Tools/AP_Periph/hwing_esc.h
+++ b/Tools/AP_Periph/hwing_esc.h
@@ -21,12 +21,12 @@ public:
         uint32_t counter;
         uint16_t throttle_req;
         uint16_t throttle;
-        uint16_t rpm;
+        float rpm;
         float voltage;
-        uint16_t load;
+        float phase_current;
         float current;
         uint16_t temperature;
-        uint16_t unknown;
+        uint16_t status;
     };
 
     const HWESC &get_telem(void) {
@@ -45,9 +45,9 @@ private:
         uint16_t rpm;
         uint16_t voltage;
         int16_t current;
-        int16_t load;
+        int16_t phase_current;
         uint16_t temperature;
-        uint16_t unknown;
+        uint16_t status;
         uint16_t crc;
     } pkt;