AP_Logger: improve unit names in comments.

added Ampere hours unit in LOG_ESC_MSG
log ESC volts, amps and consumption as floats
update ESC log file structures
consumption in mAh
Correct the current_tot unit,
motor_temp unit and error_rate unit in comments (<amilcar.lucas@iav.de>)
move ESC_Telem logging to the AP_ESC_Telem class (<amilcar.lucas@iav.de>)
correct log structure (<amilcar.lucas@iav.de>)

libraries/AP_Logger/AP_Logger.h

@@ -299,9 +299,7 @@ public:
     void Write_Radio(const mavlink_radio_t &packet);
     void Write_Message(const char *message);
     void Write_MessageF(const char *fmt, ...);
-    void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp, float error_rate = 0.0f);
     void Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct);
-    void Write_ESCStatus(uint64_t time_us, uint8_t id, uint32_t error_count, float voltage, float current, float temperature, int32_t rpm, uint8_t power_pct);
     void Write_Compass();
     void Write_Mode(uint8_t mode, const ModeReason reason);
 

libraries/AP_Logger/LogFile.cpp

@@ -361,30 +361,6 @@ bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason)
     return WriteCriticalBlock(&pkt, sizeof(pkt));
 }
 
-// Write ESC status messages
-//   id starts from 0
-//   rpm is eRPM (rpm * 100)
-//   voltage is in centi-volts
-//   current is in centi-amps
-//   temperature is in centi-degrees Celsius
-//   current_tot is in centi-amp hours
-void AP_Logger::Write_ESC(uint8_t instance, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp, float error_rate)
-{
-    const struct log_Esc pkt{
-        LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
-        time_us     : time_us,
-        instance    : instance,
-        rpm         : rpm,
-        voltage     : voltage,
-        current     : current,
-        esc_temp    : esc_temp,
-        current_tot : current_tot,
-        motor_temp  : motor_temp,
-        error_rate  : error_rate
-    };
-    WriteBlock(&pkt, sizeof(pkt));
-}
-
 /*
   write servo status from CAN servo
  */
@@ -402,25 +378,6 @@ void AP_Logger::Write_ServoStatus(uint64_t time_us, uint8_t id, float position,
     WriteBlock(&pkt, sizeof(pkt));
 }
 
-/*
-  write ESC status from CAN ESC
- */
-void AP_Logger::Write_ESCStatus(uint64_t time_us, uint8_t id, uint32_t error_count, float voltage, float current, float temperature, int32_t rpm, uint8_t power_pct)
-{
-    const struct log_CESC pkt {
-        LOG_PACKET_HEADER_INIT(LOG_CESC_MSG),
-        time_us     : time_us,
-        id          : id,
-        error_count : error_count,
-        voltage     : voltage,
-        current     : current,
-        temperature : temperature,
-        rpm         : rpm,
-        power_pct   : power_pct
-    };
-    WriteBlock(&pkt, sizeof(pkt));
-}
-
 
 // Write a Yaw PID packet
 void AP_Logger::Write_PID(uint8_t msg_type, const PID_Info &info)

libraries/AP_Logger/LogStructure.h

@@ -45,6 +45,7 @@ const struct UnitStructure log_Units[] = {
     { '-', "" },              // no units e.g. Pi, or a string
     { '?', "UNKNOWN" },       // Units which haven't been worked out yet....
     { 'A', "A" },             // Ampere
+    { 'a', "Ah" },            // Ampere hours
     { 'd', "deg" },           // of the angular variety, -180 to 180
     { 'b', "B" },             // bytes
     { 'k', "deg/s" },         // degrees per second. Degrees are NOT SI, but is some situations more user-friendly than radians
@@ -130,6 +131,7 @@ const struct MultiplierStructure log_Multipliers[] = {
 #include <AP_VisualOdom/LogStructure.h>
 #include <AC_PrecLand/LogStructure.h>
 #include <AC_Avoidance/LogStructure.h>
+#include <AP_ESC_Telem/LogStructure.h>
 
 // structure used to define logging format
 struct LogStructure {
@@ -442,19 +444,6 @@ struct PACKED log_TERRAIN {
     uint16_t loaded;
 };
 
-struct PACKED log_Esc {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    uint8_t instance;
-    int32_t rpm;
-    uint16_t voltage;
-    uint16_t current;
-    int16_t esc_temp;
-    uint16_t current_tot;
-    int16_t motor_temp;
-    float error_rate;
-};
-
 struct PACKED log_CSRV {
     LOG_PACKET_HEADER;
     uint64_t time_us;     
@@ -465,18 +454,6 @@ struct PACKED log_CSRV {
     uint8_t power_pct;
 };
 
-struct PACKED log_CESC {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;     
-    uint8_t id;
-    uint32_t error_count;
-    float voltage;
-    float current;
-    float temperature;
-    int32_t rpm;
-    uint8_t power_pct;
-};
-
 struct PACKED log_ARSP {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -789,17 +766,6 @@ struct PACKED log_PSCZ {
 // @Field: PosY: Calculated beacon position, y-axis
 // @Field: PosZ: Calculated beacon position, z-axis
 
-// @LoggerMessage: CESC
-// @Description: CAN ESC data
-// @Field: TimeUS: Time since system startup
-// @Field: Id: ESC identifier
-// @Field: ECnt: Error count
-// @Field: Voltage: Battery voltage measurement
-// @Field: Curr: Battery current measurement
-// @Field: Temp: Temperature
-// @Field: RPM: Measured RPM
-// @Field: Pow: Rated power output
-
 // @LoggerMessage: CMD
 // @Description: Executed mission command information
 // @Field: TimeUS: Time since system startup
@@ -874,18 +840,6 @@ struct PACKED log_PSCZ {
 // @Field: Subsys: Subsystem in which the error occurred
 // @Field: ECode: Subsystem-specific error code
 
-// @LoggerMessage: ESC
-// @Description: Feedback received from ESCs
-// @Field: TimeUS: microseconds since system startup
-// @Field: Instance: ESC instance number
-// @Field: RPM: reported motor rotation rate
-// @Field: Volt: Perceived input voltage for the ESC
-// @Field: Curr: Perceived current through the ESC
-// @Field: Temp: ESC temperature
-// @Field: CTot: current consumed total
-// @Field: MotTemp: measured motor temperature
-// @Field: Err: error rate
-
 // @LoggerMessage: EV
 // @Description: Specifically coded event messages
 // @Field: TimeUS: Time since system startup
@@ -1310,12 +1264,9 @@ LOG_STRUCTURE_FROM_AVOIDANCE \
       "SIM","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4", "sddhmDU????", "FBBB0GG????" }, \
     { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
       "TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded", "s-DU-mm--", "F-GG-00--" }, \
-    { LOG_ESC_MSG, sizeof(log_Esc), \
+LOG_STRUCTURE_FROM_ESC_TELEM \
-      "ESC",  "QBeCCcHcf", "TimeUS,Instance,RPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qvAO-O%", "F-BBBB-B-" }, \
     { LOG_CSRV_MSG, sizeof(log_CSRV), \
       "CSRV","QBfffB","TimeUS,Id,Pos,Force,Speed,Pow", "s#---%", "F-0000" }, \
-    { LOG_CESC_MSG, sizeof(log_CESC), \
-      "CESC","QBIfffiB","TimeUS,Id,ECnt,Voltage,Curr,Temp,RPM,Pow", "s#-vAOq%", "F-000000" }, \
     { LOG_PIDR_MSG, sizeof(log_PID), \
       "PIDR", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS }, \
     { LOG_PIDP_MSG, sizeof(log_PID), \
@@ -1418,10 +1369,9 @@ enum LogMessages : uint8_t {
     LOG_ATRP_MSG,
     LOG_IDS_FROM_CAMERA,
     LOG_TERRAIN_MSG,
-    LOG_ESC_MSG,
     LOG_CSRV_MSG,
-    LOG_CESC_MSG,
     LOG_ARSP_MSG,
+    LOG_IDS_FROM_ESC_TELEM,
     LOG_IDS_FROM_BATTMONITOR,
     LOG_MAG_MSG,