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AP_BLHeli: use AP_Logger::Write_ESC

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This commit is contained in:
Randy Mackay 2019-02-11 16:53:13 +09:00
parent e28efeceac
commit 9eaef98321
1 changed files with 7 additions and 10 deletions
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17
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1348,16 +1348,13 @@ void AP_BLHeli::read_telemetry_packet(void)
AP_Logger *df = AP_Logger::get_singleton();
if (df && df->logging_enabled()) {
struct log_Esc pkt = {
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC1_MSG+last_telem_esc)),
time_us : AP_HAL::micros64(),
rpm : int32_t(td.rpm*100U),
voltage : td.voltage,
current : td.current,
temperature : int16_t(td.temperature * 100U),
current_tot : td.consumption
};
df->WriteBlock(&pkt, sizeof(pkt));
df->Write_ESC(uint8_t(last_telem_esc),
AP_HAL::micros64(),
td.rpm*100U,
td.voltage,
td.current,
td.temperature * 100U,
td.consumption);
}
if (debug_level >= 2) {
hal.console->printf("ESC[%u] T=%u V=%u C=%u con=%u RPM=%u t=%u\n",