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AP_ESC_Telem: support set_rpm_scale() call for scripting

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This commit is contained in:
Andrew Tridgell 2022-09-01 18:02:33 +10:00 committed by Randy Mackay
parent 8b601fbf63
commit e7ab8147b3
2 changed files with 34 additions and 0 deletions
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20
libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
View File

@ -171,6 +171,13 @@ bool AP_ESC_Telem::get_rpm(uint8_t esc_index, float& rpm) const
&& (now - rpmdata.last_update_us < ESC_RPM_DATA_TIMEOUT_US)) { && (now - rpmdata.last_update_us < ESC_RPM_DATA_TIMEOUT_US)) {
const float slew = MIN(1.0f, (now - rpmdata.last_update_us) * rpmdata.update_rate_hz * (1.0f / 1e6f)); const float slew = MIN(1.0f, (now - rpmdata.last_update_us) * rpmdata.update_rate_hz * (1.0f / 1e6f));
rpm = (rpmdata.prev_rpm + (rpmdata.rpm - rpmdata.prev_rpm) * slew); rpm = (rpmdata.prev_rpm + (rpmdata.rpm - rpmdata.prev_rpm) * slew);
#if AP_SCRIPTING_ENABLED
if ((1U<<esc_index) & rpm_scale_mask) {
rpm *= rpm_scale_factor[esc_index];
}
#endif
return true; return true;
} }
return false; return false;
@ -507,6 +514,19 @@ void AP_ESC_Telem::update()
} }
} }
#if AP_SCRIPTING_ENABLED
/*
set RPM scale factor from script
*/
void AP_ESC_Telem::set_rpm_scale(const uint8_t esc_index, const float scale_factor)
{
if (esc_index < ESC_TELEM_MAX_ESCS) {
rpm_scale_factor[esc_index] = scale_factor;
rpm_scale_mask |= (1U<<esc_index);
}
}
#endif
AP_ESC_Telem *AP_ESC_Telem::_singleton = nullptr; AP_ESC_Telem *AP_ESC_Telem::_singleton = nullptr;
/* /*

14
libraries/AP_ESC_Telem/AP_ESC_Telem.h
View File

@ -100,6 +100,14 @@ public:
// callback to update the rpm in the frontend, should be called by the driver when new data is available // callback to update the rpm in the frontend, should be called by the driver when new data is available
// can also be called from scripting // can also be called from scripting
void update_rpm(const uint8_t esc_index, const float new_rpm, const float error_rate); void update_rpm(const uint8_t esc_index, const float new_rpm, const float error_rate);
#if AP_SCRIPTING_ENABLED
/*
set RPM scale factor from script
*/
void set_rpm_scale(const uint8_t esc_index, const float scale_factor);
#endif
private: private:
// callback to update the data in the frontend, should be called by the driver when new data is available // callback to update the data in the frontend, should be called by the driver when new data is available
@ -114,6 +122,12 @@ private:
uint32_t _last_rpm_log_us[ESC_TELEM_MAX_ESCS]; uint32_t _last_rpm_log_us[ESC_TELEM_MAX_ESCS];
uint8_t next_idx; uint8_t next_idx;
#if AP_SCRIPTING_ENABLED
// allow for scaling of RPMs via lua scripts
float rpm_scale_factor[ESC_TELEM_MAX_ESCS];
uint32_t rpm_scale_mask;
#endif
bool _have_data; bool _have_data;
AP_Int8 mavlink_offset; AP_Int8 mavlink_offset;