mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
8df4e0f127
refactor to capture and output slewed rpm values enable with HAL_WITH_ESC_TELEM move notch calculation to front end refactor telemetry data into frontend cope with blended data add mavlink send function log telemetry data in frontend add SITL ESC telemetry record volts, amps and consumption as floats report telemetry transmission errors disable ESC Telemetry inclusion when there is no need for it move ESC_Telem logging to the AP_ESC_Telem class (by amilcar.lucas@iav.de) various cleanups (by amilcar.lucas@iav.de) add support for raw ESC rpm check RPM validity for mavlink output Use const when applicable
48 lines
1.2 KiB
C++
48 lines
1.2 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_ESC_Telem_SITL.h"
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#include "AP_ESC_Telem.h"
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#include <AP_HAL/AP_HAL.h>
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#include <SITL/SITL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_Math/AP_Math.h>
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extern const AP_HAL::HAL& hal;
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AP_ESC_Telem_SITL::AP_ESC_Telem_SITL()
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{
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}
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void AP_ESC_Telem_SITL::update()
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{
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SITL::SITL* sitl = AP::sitl();
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if (!sitl) {
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return;
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}
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if (is_zero(sitl->throttle)) {
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return;
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}
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for (uint8_t i = 0; i < sitl->state.num_motors; i++) {
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update_rpm(i, sitl->state.rpm[sitl->state.vtol_motor_start+i]);
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}
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}
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#endif |