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AP_ESC_Telem: Log RPM and raw RPM values as floats

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Maxim Buzdalov 2024-01-14 19:33:15 +00:00 committed by Tom Pittenger
parent 6ca3f31143
commit 30146affa5
2 changed files with 8 additions and 8 deletions
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10
libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
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@ -502,12 +502,12 @@ void AP_ESC_Telem::update()
float rpm = 0.0f; float rpm = 0.0f;
get_rpm(i, rpm); get_rpm(i, rpm);
float rawrpm = 0.0f; float raw_rpm = 0.0f;
get_raw_rpm(i, rawrpm); get_raw_rpm(i, raw_rpm);
// Write ESC status messages // Write ESC status messages
// id starts from 0 // id starts from 0
// rpm is eRPM (rpm * 100) // rpm, raw_rpm is eRPM (in RPM units)
// voltage is in Volt // voltage is in Volt
// current is in Ampere // current is in Ampere
// esc_temp is in centi-degrees Celsius // esc_temp is in centi-degrees Celsius
@ -518,8 +518,8 @@ void AP_ESC_Telem::update()
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)), LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
instance : i, instance : i,
rpm : (int32_t) rpm * 100, rpm : rpm,
raw_rpm : (int32_t) rawrpm * 100, raw_rpm : raw_rpm,
voltage : _telem_data[i].voltage, voltage : _telem_data[i].voltage,
current : _telem_data[i].current, current : _telem_data[i].current,
esc_temp : _telem_data[i].temperature_cdeg, esc_temp : _telem_data[i].temperature_cdeg,

6
libraries/AP_ESC_Telem/LogStructure.h
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@ -21,8 +21,8 @@ struct PACKED log_Esc {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
uint8_t instance; uint8_t instance;
int32_t rpm; float rpm;
int32_t raw_rpm; float raw_rpm;
float voltage; float voltage;
float current; float current;
int16_t esc_temp; int16_t esc_temp;
@ -33,4 +33,4 @@ struct PACKED log_Esc {
#define LOG_STRUCTURE_FROM_ESC_TELEM \ #define LOG_STRUCTURE_FROM_ESC_TELEM \
{ LOG_ESC_MSG, sizeof(log_Esc), \ { LOG_ESC_MSG, sizeof(log_Esc), \
"ESC", "QBeeffcfcf", "TimeUS,Instance,RPM,RawRPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qqvAOaO%", "F-BB--BCB-" , true }, "ESC", "QBffffcfcf", "TimeUS,Instance,RPM,RawRPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qqvAOaO%", "F-00--BCB-" , true },