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AP_ESC_Telem: don't send mavlink msgs if we've never data any data

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This commit is contained in:
Andrew Tridgell 2021-06-07 11:02:35 +10:00 committed by Peter Barker
parent 4abf854c45
commit ac2080ff93
2 changed files with 12 additions and 0 deletions
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10
libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
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@ -195,6 +195,11 @@ void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
{ {
static_assert(ESC_TELEM_MAX_ESCS <= 12, "AP_ESC_Telem::send_esc_telemetry_mavlink() only supports up-to 12 motors"); static_assert(ESC_TELEM_MAX_ESCS <= 12, "AP_ESC_Telem::send_esc_telemetry_mavlink() only supports up-to 12 motors");
if (!_have_data) {
// we've never had any data
return;
}
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
uint32_t now_us = AP_HAL::micros(); uint32_t now_us = AP_HAL::micros();
// loop through 3 groups of 4 ESCs // loop through 3 groups of 4 ESCs
@ -268,6 +273,8 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem
return; return;
} }
_have_data = true;
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE) { if (data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE) {
_telem_data[esc_index].temperature_cdeg = new_data.temperature_cdeg; _telem_data[esc_index].temperature_cdeg = new_data.temperature_cdeg;
} }
@ -299,6 +306,9 @@ void AP_ESC_Telem::update_rpm(const uint8_t esc_index, const uint16_t new_rpm, c
if (esc_index > ESC_TELEM_MAX_ESCS) { if (esc_index > ESC_TELEM_MAX_ESCS) {
return; return;
} }
_have_data = true;
const uint32_t now = AP_HAL::micros(); const uint32_t now = AP_HAL::micros();
volatile AP_ESC_Telem_Backend::RpmData& rpmdata = _rpm_data[esc_index]; volatile AP_ESC_Telem_Backend::RpmData& rpmdata = _rpm_data[esc_index];

2
libraries/AP_ESC_Telem/AP_ESC_Telem.h
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@ -80,6 +80,8 @@ private:
uint32_t _last_telem_log_ms[ESC_TELEM_MAX_ESCS]; uint32_t _last_telem_log_ms[ESC_TELEM_MAX_ESCS];
uint32_t _last_rpm_log_us[ESC_TELEM_MAX_ESCS]; uint32_t _last_rpm_log_us[ESC_TELEM_MAX_ESCS];
bool _have_data;
static AP_ESC_Telem *_singleton; static AP_ESC_Telem *_singleton;
}; };