Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: Send ESC telemetry over mavlink while doing compassmot 

compassmot can be used to bypass all PID control loops (this avoids forwarding IMU noise to the motors) while stress-testing the ESCs+motors.
So that temperatures can be monitored in real-time during those long tests, send ESC telemetry as well.
This commit is contained in:
Dr.-Ing. Amilcar do Carmo Lucas 2021-10-08 13:59:29 +02:00 committed by Randy Mackay
parent 4dfe262808
commit e3d2a4806e
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/compassmot.cpp
View File

@ -224,6 +224,10 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
motor_compensation[0].x,
motor_compensation[0].y,
motor_compensation[0].z);
#if HAL_WITH_ESC_TELEM
// send ESC telemetry to monitor ESC and motor temperatures
AP::esc_telem().send_esc_telemetry_mavlink(gcs_chan.get_chan());
#endif
}
}