ardupilot/libraries/AP_ESC_Telem/AP_ESC_Telem_SITL.cpp

86 lines
2.4 KiB
C++

/*
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_SITL.h"
#include "AP_ESC_Telem.h"
#include <AP_HAL/AP_HAL.h>
#include <SITL/SITL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <AP_Math/AP_Math.h>
extern const AP_HAL::HAL& hal;
AP_ESC_Telem_SITL::AP_ESC_Telem_SITL()
{
}
void AP_ESC_Telem_SITL::update()
{
SITL::SIM* sitl = AP::sitl();
if (!sitl) {
return;
}
#if HAL_WITH_ESC_TELEM
if (AP_HAL::millis64() < 6000) {
// this prevents us sending blank data at startup, which triggers
// ESC telem messages for all channels
return;
}
uint32_t mask = sitl->state.motor_mask;
/*
mask out motors we should not be providing telemetry for. On
AP_Periph SIM_CAN_SRV_MSK are the outputs we will provide
telemetry for, on the main firmware it is the ones we don't
provide telemetry for
*/
#if defined(HAL_BUILD_AP_PERIPH)
mask &= uint32_t(sitl->can_servo_mask);
#else
mask &= ~uint32_t(sitl->can_servo_mask);
#endif
uint8_t bit;
while ((bit = __builtin_ffs(mask)) != 0) {
uint8_t motor = bit-1;
mask &= ~(1U<<motor);
const float min_rpm = hal.util->get_soft_armed()? sitl->esc_rpm_armed : 0;
update_rpm(motor, MAX(min_rpm, sitl->state.rpm[motor]));
// some fake values so that is_telemetry_active() returns true
TelemetryData t {
.temperature_cdeg = 32,
.voltage = 16.8f,
.current = 0.8f,
.consumption_mah = 1.0f,
};
update_telem_data(motor, t,
AP_ESC_Telem_Backend::TelemetryType::CURRENT
| AP_ESC_Telem_Backend::TelemetryType::VOLTAGE
| AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION
| AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE);
}
#endif
}
#endif