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AP_RCTelemetry: convert Spektrum telemetry to use telemetry library

This commit is contained in:
Andy Piper 2024-03-17 18:42:18 +00:00 committed by Andrew Tridgell
parent 990318193b
commit c3ba0dd95e
1 changed files with 7 additions and 17 deletions
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24
libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp
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@ -33,7 +33,7 @@
#include <AP_Baro/AP_Baro.h>
#include <AP_RTC/AP_RTC.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_BLHeli/AP_BLHeli.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include <math.h>
#if HAL_SPEKTRUM_TELEM_ENABLED
@ -577,25 +577,15 @@ void AP_Spektrum_Telem::calc_gps_status()
// prepare ESC information - B/E
void AP_Spektrum_Telem::calc_esc()
{
#if HAVE_AP_BLHELI_SUPPORT
AP_BLHeli* blh = AP_BLHeli::get_singleton();
if (blh == nullptr) {
return;
}
AP_BLHeli::telem_data td;
if (!blh->get_telem_data(0, td)) {
return;
}
#if HAL_WITH_ESC_TELEM
const volatile AP_ESC_Telem_Backend::TelemetryData& td = AP::esc_telem().get_telem_data(0); // ideally should rotate between ESCs
_telem.esc.identifier = TELE_DEVICE_ESC; // Source device = 0x20
_telem.esc.sID = 0; // Secondary ID
_telem.esc.RPM = htobe16(uint16_t(roundf(blh->get_average_motor_frequency_hz() * 60))); // Electrical RPM, 10RPM (0-655340 RPM) 0xFFFF --> "No data"
_telem.esc.voltsInput = htobe16(td.voltage); // Volts, 0.01v (0-655.34V) 0xFFFF --> "No data"
_telem.esc.tempFET = htobe16(td.temperature * 10); // Temperature, 0.1C (0-6553.4C) 0xFFFF --> "No data"
_telem.esc.currentMotor = htobe16(td.current); // Current, 10mA (0-655.34A) 0xFFFF --> "No data"
_telem.esc.RPM = htobe16(uint16_t(roundf(AP::esc_telem().get_average_motor_frequency_hz() * 60))); // Electrical RPM, 10RPM (0-655340 RPM) 0xFFFF --> "No data"
_telem.esc.voltsInput = htobe16(td.voltage * 100); // Volts, 0.01v (0-655.34V) 0xFFFF --> "No data"
_telem.esc.tempFET = htobe16(td.temperature_cdeg * 10); // Temperature, 0.1C (0-6553.4C) 0xFFFF --> "No data"
_telem.esc.currentMotor = htobe16(td.current * 100); // Current, 10mA (0-655.34A) 0xFFFF --> "No data"
_telem.esc.tempBEC = 0xFFFF; // Temperature, 0.1C (0-6553.4C) 0xFFFF --> "No data"
_telem.esc.currentBEC = 0xFF; // BEC Current, 100mA (0-25.4A) 0xFF ----> "No data"
_telem.esc.voltsBEC = 0xFF; // BEC Volts, 0.05V (0-12.70V) 0xFF ----> "No data"