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ardupilot/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_ESC_Telem.h"
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h>
#if HAL_WITH_ESC_TELEM
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_TemperatureSensor/AP_TemperatureSensor_config.h>
#include <AP_Math/AP_Math.h>
//#define ESC_TELEM_DEBUG
#define ESC_RPM_CHECK_TIMEOUT_US 210000UL // timeout for motor running validity
extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo AP_ESC_Telem::var_info[] = {
// @Param: _MAV_OFS
// @DisplayName: ESC Telemetry mavlink offset
// @Description: Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets
// @Increment: 1
// @Range: 0 31
// @User: Standard
AP_GROUPINFO("_MAV_OFS", 1, AP_ESC_Telem, mavlink_offset, 0),
AP_GROUPEND
};
AP_ESC_Telem::AP_ESC_Telem()
{
if (_singleton) {
AP_HAL::panic("Too many AP_ESC_Telem instances");
}
_singleton = this;
#if !defined(IOMCU_FW)
AP_Param::setup_object_defaults(this, var_info);
#endif
}
// return the average motor RPM
float AP_ESC_Telem::get_average_motor_rpm(uint32_t servo_channel_mask) const
{
float rpm_avg = 0.0f;
uint8_t valid_escs = 0;
// average the rpm of each motor
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
if (BIT_IS_SET(servo_channel_mask,i)) {
float rpm;
if (get_rpm(i, rpm)) {
rpm_avg += rpm;
valid_escs++;
}
}
}
if (valid_escs > 0) {
rpm_avg /= valid_escs;
}
return rpm_avg;
}
// return all the motor frequencies in Hz for dynamic filtering
uint8_t AP_ESC_Telem::get_motor_frequencies_hz(uint8_t nfreqs, float* freqs) const
{
uint8_t valid_escs = 0;
// average the rpm of each motor as reported by BLHeli and convert to Hz
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS && valid_escs < nfreqs; i++) {
float rpm;
if (get_rpm(i, rpm)) {
freqs[valid_escs++] = rpm * (1.0f / 60.0f);
} else if (was_rpm_data_ever_reported(_rpm_data[i])) {
// if we have ever received data on an ESC, mark it as valid but with no data
// this prevents large frequency shifts when ESCs disappear
freqs[valid_escs++] = 0.0f;
}
}
return MIN(valid_escs, nfreqs);
}
// get mask of ESCs that sent valid telemetry and/or rpm data in the last
// ESC_TELEM_DATA_TIMEOUT_MS/ESC_RPM_DATA_TIMEOUT_US
uint32_t AP_ESC_Telem::get_active_esc_mask() const {
uint32_t ret = 0;
const uint32_t now = AP_HAL::millis();
uint32_t now_us = AP_HAL::micros();
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
if (_telem_data[i].last_update_ms == 0 && !was_rpm_data_ever_reported(_rpm_data[i])) {
// have never seen telem from this ESC
continue;
}
if (_telem_data[i].stale(now)
&& !rpm_data_within_timeout(_rpm_data[i], now_us, ESC_RPM_DATA_TIMEOUT_US)) {
continue;
}
ret |= (1U << i);
}
return ret;
}
// return number of active ESCs present
uint8_t AP_ESC_Telem::get_num_active_escs() const {
uint32_t active = get_active_esc_mask();
return __builtin_popcount(active);
}
// return the whether all the motors in servo_channel_mask are running
bool AP_ESC_Telem::are_motors_running(uint32_t servo_channel_mask, float min_rpm, float max_rpm) const
{
const uint32_t now = AP_HAL::micros();
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
if (BIT_IS_SET(servo_channel_mask, i)) {
const volatile AP_ESC_Telem_Backend::RpmData& rpmdata = _rpm_data[i];
// we choose a relatively strict measure of health so that failsafe actions can rely on the results
if (!rpm_data_within_timeout(rpmdata, now, ESC_RPM_CHECK_TIMEOUT_US)) {
return false;
}
if (rpmdata.rpm < min_rpm) {
return false;
}
if ((max_rpm > 0) && (rpmdata.rpm > max_rpm)) {
return false;
}
}
}
return true;
}
// is telemetry active for the provided channel mask
bool AP_ESC_Telem::is_telemetry_active(uint32_t servo_channel_mask) const
{
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
if (BIT_IS_SET(servo_channel_mask, i)) {
// no data received
if (get_last_telem_data_ms(i) == 0 && !was_rpm_data_ever_reported(_rpm_data[i])) {
return false;
}
}
}
return true;
}
// get an individual ESC's slewed rpm if available, returns true on success
bool AP_ESC_Telem::get_rpm(uint8_t esc_index, float& rpm) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return false;
}
const volatile AP_ESC_Telem_Backend::RpmData& rpmdata = _rpm_data[esc_index];
if (is_zero(rpmdata.update_rate_hz)) {
return false;
}
const uint32_t now = AP_HAL::micros();
if (rpm_data_within_timeout(rpmdata, now, ESC_RPM_DATA_TIMEOUT_US)) {
const float slew = MIN(1.0f, (now - rpmdata.last_update_us) * rpmdata.update_rate_hz * (1.0f / 1e6f));
rpm = (rpmdata.prev_rpm + (rpmdata.rpm - rpmdata.prev_rpm) * slew);
#if AP_SCRIPTING_ENABLED
if ((1U<<esc_index) & rpm_scale_mask) {
rpm *= rpm_scale_factor[esc_index];
}
#endif
return true;
}
return false;
}
// get an individual ESC's raw rpm if available, returns true on success
bool AP_ESC_Telem::get_raw_rpm(uint8_t esc_index, float& rpm) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return false;
}
const volatile AP_ESC_Telem_Backend::RpmData& rpmdata = _rpm_data[esc_index];
const uint32_t now = AP_HAL::micros();
if (!rpm_data_within_timeout(rpmdata, now, ESC_RPM_DATA_TIMEOUT_US)) {
return false;
}
rpm = rpmdata.rpm;
return true;
}
// get an individual ESC's temperature in centi-degrees if available, returns true on success
bool AP_ESC_Telem::get_temperature(uint8_t esc_index, int16_t& temp) 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::TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL))) {
return false;
}
temp = telemdata.temperature_cdeg;
return true;
}
// get an individual motor's temperature in centi-degrees if available, returns true on success
bool AP_ESC_Telem::get_motor_temperature(uint8_t esc_index, int16_t& temp) 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::MOTOR_TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL))) {
return false;
}
temp = telemdata.motor_temp_cdeg;
return true;
}
// get the highest ESC temperature in centi-degrees if available, returns true if there is valid data for at least one ESC
bool AP_ESC_Telem::get_highest_motor_temperature(int16_t& temp) const
{
uint8_t valid_escs = 0;
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
int16_t temp_temp;
if (get_motor_temperature(i, temp_temp)) {
temp = MAX(temp, temp_temp);
valid_escs++;
}
}
return valid_escs > 0;
}
// get an individual ESC's current in Ampere if available, returns true on success
bool AP_ESC_Telem::get_current(uint8_t esc_index, float& amps) 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::CURRENT)) {
return false;
}
amps = telemdata.current;
return true;
}
// get an individual ESC's voltage in Volt if available, returns true on success
bool AP_ESC_Telem::get_voltage(uint8_t esc_index, float& volts) 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::VOLTAGE)) {
return false;
}
volts = telemdata.voltage;
return true;
}
// get an individual ESC's energy consumption in milli-Ampere.hour if available, returns true on success
bool AP_ESC_Telem::get_consumption_mah(uint8_t esc_index, float& consumption_mah) 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::CONSUMPTION)) {
return false;
}
consumption_mah = telemdata.consumption_mah;
return true;
}
// get an individual ESC's usage time in seconds if available, returns true on success
bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_index, uint32_t& usage_s) 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::USAGE)) {
return false;
}
usage_s = telemdata.usage_s;
return true;
}
// send ESC telemetry messages over MAVLink
void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
{
#if HAL_GCS_ENABLED
if (!_have_data) {
// we've never had any data
return;
}
const uint32_t now = AP_HAL::millis();
const uint32_t now_us = AP_HAL::micros();
// loop through groups of 4 ESCs
const uint8_t esc_offset = constrain_int16(mavlink_offset, 0, ESC_TELEM_MAX_ESCS-1);
// ensure we send out partially-full groups:
const uint8_t num_idx = (ESC_TELEM_MAX_ESCS + 3) / 4;
for (uint8_t idx = 0; idx < num_idx; idx++) {
const uint8_t i = (next_idx + idx) % num_idx;
// return if no space in output buffer to send mavlink messages
if (!HAVE_PAYLOAD_SPACE((mavlink_channel_t)mav_chan, ESC_TELEMETRY_1_TO_4)) {
// not enough mavlink buffer space, start at this index next time
next_idx = i;
return;
}
bool all_stale = true;
for (uint8_t j=0; j<4; j++) {
const uint8_t esc_id = (i * 4 + j) + esc_offset;
if (esc_id < ESC_TELEM_MAX_ESCS &&
(!_telem_data[esc_id].stale(now) ||
rpm_data_within_timeout(_rpm_data[esc_id], now_us, ESC_RPM_DATA_TIMEOUT_US))) {
all_stale = false;
break;
}
}
if (all_stale) {
// skip this group of ESCs if no data to send
continue;
}
// arrays to hold output
mavlink_esc_telemetry_1_to_4_t s {};
// fill in output arrays
for (uint8_t j = 0; j < 4; j++) {
const uint8_t esc_id = (i * 4 + j) + esc_offset;
if (esc_id >= ESC_TELEM_MAX_ESCS) {
continue;
}
volatile AP_ESC_Telem_Backend::TelemetryData const &telemdata = _telem_data[esc_id];
s.temperature[j] = telemdata.temperature_cdeg / 100;
s.voltage[j] = constrain_float(telemdata.voltage * 100.0f, 0, UINT16_MAX);
s.current[j] = constrain_float(telemdata.current * 100.0f, 0, UINT16_MAX);
s.totalcurrent[j] = constrain_float(telemdata.consumption_mah, 0, UINT16_MAX);
float rpmf;
if (get_rpm(esc_id, rpmf)) {
s.rpm[j] = constrain_float(rpmf, 0, UINT16_MAX);
}
s.count[j] = telemdata.count;
}
// make sure a msg hasn't been extended
static_assert(MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_5_TO_8_LEN &&
MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_9_TO_12_LEN &&
MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_13_TO_16_LEN &&
MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_17_TO_20_LEN &&
MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_21_TO_24_LEN &&
MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_21_TO_24_LEN &&
MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_25_TO_28_LEN &&
MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_29_TO_32_LEN,
"telem messages not compatible");
const mavlink_channel_t chan = (mavlink_channel_t)mav_chan;
// send messages
switch (i) {
case 0:
mavlink_msg_esc_telemetry_1_to_4_send_struct(chan, &s);
break;
case 1:
mavlink_msg_esc_telemetry_5_to_8_send_struct(chan, (const mavlink_esc_telemetry_5_to_8_t *)&s);
break;
case 2:
mavlink_msg_esc_telemetry_9_to_12_send_struct(chan, (const mavlink_esc_telemetry_9_to_12_t *)&s);
break;
case 3:
mavlink_msg_esc_telemetry_13_to_16_send_struct(chan, (const mavlink_esc_telemetry_13_to_16_t *)&s);
break;
#if ESC_TELEM_MAX_ESCS > 16
case 4:
mavlink_msg_esc_telemetry_17_to_20_send_struct(chan, (const mavlink_esc_telemetry_17_to_20_t *)&s);
break;
case 5:
mavlink_msg_esc_telemetry_21_to_24_send_struct(chan, (const mavlink_esc_telemetry_21_to_24_t *)&s);
break;
case 6:
mavlink_msg_esc_telemetry_25_to_28_send_struct(chan, (const mavlink_esc_telemetry_25_to_28_t *)&s);
break;
case 7:
mavlink_msg_esc_telemetry_29_to_32_send_struct(chan, (const mavlink_esc_telemetry_29_to_32_t *)&s);
break;
#endif
}
}
// we checked for all sends without running out of buffer space,
// start at zero next time
next_idx = 0;
#endif // HAL_GCS_ENABLED
}
// record an update to the telemetry data together with timestamp
// this should be called by backends when new telemetry values are available
void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem_Backend::TelemetryData& new_data, const uint16_t data_mask)
{
// rpm and telemetry data are not protected by a semaphore even though updated from different threads
// all data is per-ESC and only written from the update thread and read by the user thread
// each element is a primitive type and the timestamp is only updated at the end, thus a caller
// can only get slightly more up-to-date information that perhaps they were expecting or might
// read data that has just gone stale - both of these are safe and avoid the overhead of locking
if (esc_index >= ESC_TELEM_MAX_ESCS || data_mask == 0) {
return;
}
_have_data = true;
volatile AP_ESC_Telem_Backend::TelemetryData &telemdata = _telem_data[esc_index];
#if AP_TEMPERATURE_SENSOR_ENABLED
// always allow external data. Block "internal" if external has ever its ever been set externally then ignore normal "internal" updates
const bool has_temperature = (data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL) ||
((data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE) && !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL));
const bool has_motor_temperature = (data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL) ||
((data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE) && !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL));
#else
const bool has_temperature = (data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE);
const bool has_motor_temperature = (data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE);
#endif
if (has_temperature) {
telemdata.temperature_cdeg = new_data.temperature_cdeg;
}
if (has_motor_temperature) {
telemdata.motor_temp_cdeg = new_data.motor_temp_cdeg;
}
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::VOLTAGE) {
telemdata.voltage = new_data.voltage;
}
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::CURRENT) {
telemdata.current = new_data.current;
}
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION) {
telemdata.consumption_mah = new_data.consumption_mah;
}
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::USAGE) {
telemdata.usage_s = new_data.usage_s;
}
telemdata.count++;
telemdata.types |= data_mask;
telemdata.last_update_ms = AP_HAL::millis();
}
// record an update to the RPM together with timestamp, this allows the notch values to be slewed
// this should be called by backends when new telemetry values are available
void AP_ESC_Telem::update_rpm(const uint8_t esc_index, const float new_rpm, const float error_rate)
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return;
}
_have_data = true;
const uint32_t now = MAX(1U ,AP_HAL::micros()); // don't allow a value of 0 in, as we use this as a flag in places
volatile AP_ESC_Telem_Backend::RpmData& rpmdata = _rpm_data[esc_index];
const auto last_update_us = rpmdata.last_update_us;
rpmdata.prev_rpm = rpmdata.rpm;
rpmdata.rpm = new_rpm;
rpmdata.update_rate_hz = 1.0e6f / constrain_uint32((now - last_update_us), 100, 1000000U*10U); // limit the update rate 0.1Hz to 10KHz
rpmdata.last_update_us = now;
rpmdata.error_rate = error_rate;
rpmdata.data_valid = true;
#ifdef ESC_TELEM_DEBUG
hal.console->printf("RPM: rate=%.1fhz, rpm=%f)\n", rpmdata.update_rate_hz, new_rpm);
#endif
}
void AP_ESC_Telem::update()
{
#if HAL_LOGGING_ENABLED
AP_Logger *logger = AP_Logger::get_singleton();
const uint64_t now_us64 = AP_HAL::micros64();
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
const volatile AP_ESC_Telem_Backend::RpmData &rpmdata = _rpm_data[i];
const volatile AP_ESC_Telem_Backend::TelemetryData &telemdata = _telem_data[i];
// Push received telemetry data into the logging system
if (logger && logger->logging_enabled()) {
if (telemdata.last_update_ms != _last_telem_log_ms[i]
|| rpmdata.last_update_us != _last_rpm_log_us[i]) {
float rpm = AP::logger().quiet_nanf();
get_rpm(i, rpm);
float raw_rpm = AP::logger().quiet_nanf();
get_raw_rpm(i, raw_rpm);
// Write ESC status messages
// id starts from 0
// rpm, raw_rpm is eRPM (in RPM units)
// voltage is in Volt
// current is in Ampere
// esc_temp is in centi-degrees Celsius
// current_tot is in milli-Ampere hours
// motor_temp is in centi-degrees Celsius
// error_rate is in percentage
const struct log_Esc pkt{
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
time_us : now_us64,
instance : i,
rpm : rpm,
raw_rpm : raw_rpm,
voltage : telemdata.voltage,
current : telemdata.current,
esc_temp : telemdata.temperature_cdeg,
current_tot : telemdata.consumption_mah,
motor_temp : telemdata.motor_temp_cdeg,
error_rate : rpmdata.error_rate
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
_last_telem_log_ms[i] = telemdata.last_update_ms;
_last_rpm_log_us[i] = rpmdata.last_update_us;
}
}
}
#endif // HAL_LOGGING_ENABLED
const uint32_t now_us = AP_HAL::micros();
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
// Invalidate RPM data if not received for too long
if ((now_us - _rpm_data[i].last_update_us) > ESC_RPM_DATA_TIMEOUT_US) {
_rpm_data[i].data_valid = false;
}
}
}
bool AP_ESC_Telem::rpm_data_within_timeout(const volatile AP_ESC_Telem_Backend::RpmData &instance, const uint32_t now_us, const uint32_t timeout_us)
{
// easy case, has the time window been crossed so it's invalid
if ((now_us - instance.last_update_us) > timeout_us) {
return false;
}
// we never got a valid data, to it's invalid
if (instance.last_update_us == 0) {
return false;
}
// check if things generally expired on us, this is done to handle time wrapping
return instance.data_valid;
}
bool AP_ESC_Telem::was_rpm_data_ever_reported(const volatile AP_ESC_Telem_Backend::RpmData &instance)
{
return instance.last_update_us > 0;
}
#if AP_SCRIPTING_ENABLED
/*
set RPM scale factor from script
*/
void AP_ESC_Telem::set_rpm_scale(const uint8_t esc_index, const float scale_factor)
{
if (esc_index < ESC_TELEM_MAX_ESCS) {
rpm_scale_factor[esc_index] = scale_factor;
rpm_scale_mask |= (1U<<esc_index);
}
}
#endif
AP_ESC_Telem *AP_ESC_Telem::_singleton = nullptr;
/*
* Get the AP_ESC_Telem singleton
*/
AP_ESC_Telem *AP_ESC_Telem::get_singleton()
{
return AP_ESC_Telem::_singleton;
}
namespace AP {
AP_ESC_Telem &esc_telem()
{
return *AP_ESC_Telem::get_singleton();
}
};
#endif
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