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AP_ESC_Telem: add getters for extended status values

This commit is contained in:
Iampete1 2024-08-07 01:14:41 +01:00 committed by Andrew Tridgell
parent c2a5554e9f
commit be80f83679
2 changed files with 68 additions and 0 deletions
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54
libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
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@ -329,6 +329,60 @@ bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_index, uint32_t& usage_s) const
return true;
}
#if AP_EXTENDED_ESC_TELEM_ENABLED
// get an individual ESC's input duty cycle if available, returns true on success
bool AP_ESC_Telem::get_input_duty(uint8_t esc_index, uint8_t& input_duty) const
{
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale()
|| !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::INPUT_DUTY)) {
return false;
}
input_duty = telemdata.input_duty;
return true;
}
// get an individual ESC's output duty cycle if available, returns true on success
bool AP_ESC_Telem::get_output_duty(uint8_t esc_index, uint8_t& output_duty) const
{
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale()
|| !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::OUTPUT_DUTY)) {
return false;
}
output_duty = telemdata.output_duty;
return true;
}
// get an individual ESC's status flags if available, returns true on success
bool AP_ESC_Telem::get_flags(uint8_t esc_index, uint32_t& flags) const
{
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale()
|| !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::FLAGS)) {
return false;
}
flags = telemdata.flags;
return true;
}
// get an individual ESC's percentage of output power if available, returns true on success
bool AP_ESC_Telem::get_power_percentage(uint8_t esc_index, uint8_t& power_percentage) const
{
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale()
|| !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE)) {
return false;
}
power_percentage = telemdata.power_percentage;
return true;
}
#endif // AP_EXTENDED_ESC_TELEM_ENABLED
// send ESC telemetry messages over MAVLink
void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
{

14
libraries/AP_ESC_Telem/AP_ESC_Telem.h
View File

@ -69,6 +69,20 @@ public:
// get an individual ESC's consumption in milli-Ampere.hour if available, returns true on success
bool get_consumption_mah(uint8_t esc_index, float& consumption_mah) const;
#if AP_EXTENDED_ESC_TELEM_ENABLED
// get an individual ESC's input duty cycle if available, returns true on success
bool get_input_duty(uint8_t esc_index, uint8_t& input_duty) const;
// get an individual ESC's output duty cycle if available, returns true on success
bool get_output_duty(uint8_t esc_index, uint8_t& output_duty) const;
// get an individual ESC's status flags if available, returns true on success
bool get_flags(uint8_t esc_index, uint32_t& flags) const;
// get an individual ESC's percentage of output power if available, returns true on success
bool get_power_percentage(uint8_t esc_index, uint8_t& power_percentage) const;
#endif
// return the average motor frequency in Hz for dynamic filtering
float get_average_motor_frequency_hz(uint32_t servo_channel_mask) const { return get_average_motor_rpm(servo_channel_mask) * (1.0f / 60.0f); };