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AP_BLHeli: improved debug output

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allow debug on any MAVLink port
also fixed handling of passthru for oneshot125
This commit is contained in:
Andrew Tridgell 2018-04-03 07:00:17 +10:00
parent 9b22e0b7cc
commit b77ba8fbd1
2 changed files with 20 additions and 9 deletions
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28
libraries/AP_BLHeli/AP_BLHeli.cpp
View File

@ -34,13 +34,7 @@
extern const AP_HAL::HAL& hal;
#if 1
#define debug(fmt, args ...) do { if (debug_uart) debug_uart->printf("ESC: " fmt "\n", ## args); } while (0)
#elif 0
#define debug(fmt, args ...) do { hal.uartF->printf("ESC: " fmt "\n", ## args); } while (0)
#else
#define debug(fmt, args ...)
#endif
#define debug(fmt, args ...) do { if (debug_level) { gcs().send_text(MAV_SEVERITY_INFO, "ESC: " fmt, ## args); } } while (0)
// key for locking UART for exclusive use. This prevents any other writes from corrupting
// the MSP protocol on hal.console
@ -85,6 +79,13 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @Range: 0 500
// @User: Standard
AP_GROUPINFO("TRATE", 5, AP_BLHeli, telem_rate, 0),
// @Param: DEBUG
// @DisplayName: BLHeli debug level
// @Description: When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("DEBUG", 6, AP_BLHeli, debug_level, 0),
AP_GROUPEND
};
@ -376,8 +377,17 @@ void AP_BLHeli::msp_process_command(void)
debug("MSP_MOTOR");
// get the output going to each motor
uint8_t buf[16] {};
uint16_t min_pwm = 1000;
uint16_t max_pwm = 2000;
hal.rcout->get_esc_scaling(min_pwm, max_pwm);
for (uint8_t i = 0; i < num_motors; i++) {
uint16_t v = hal.rcout->read(motor_map[i]);
if (v < min_pwm && v > 120 && v < 260) {
// assume this is oneshot125. We really should have
// that as a AP_HAL::RCOutput mode, but for now we
// need to cope with it this way
v /= 8;
}
putU16(&buf[2*i], v);
}
msp_send_reply(msp.cmdMSP, buf, sizeof(buf));
@ -813,9 +823,9 @@ void AP_BLHeli::blheli_process_command(void)
SRV_Channels::set_disabled_channel_mask(0);
}
if (uart_locked) {
debug("Unlocked UART");
uart->lock_port(0);
uart_locked = false;
debug("Unlocked UART");
}
break;
}
@ -1112,9 +1122,9 @@ void AP_BLHeli::update(void)
motors_disabled = false;
SRV_Channels::set_disabled_channel_mask(0);
}
debug("Unlocked UART");
uart->lock_port(0);
uart_locked = false;
debug("Unlocked UART");
}
if (initialised || (channel_mask.get() == 0 && channel_auto.get() == 0)) {
if (initialised && run_test.get() > 0) {

1
libraries/AP_BLHeli/AP_BLHeli.h
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@ -49,6 +49,7 @@ private:
AP_Int8 run_test;
AP_Int16 timeout_sec;
AP_Int16 telem_rate;
AP_Int8 debug_level;
enum mspState {
MSP_IDLE=0,