AP_ESC_Telem / AP_DroneCAN: add support for extended ESC status message. #27755
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
- Conditional compilation definition : AP_EXTENDED_ESC_TELEM_ENABLE - ESCX log structure - Update functionalities for ESCX status message - ESCX DroneCAN callback
- Conditional compilation definition : AP_EXTENDED_ESC_TELEM_ENABLE - ESCX log structure - Update functionalities for ESCX status message - ESCX DroneCAN callback
- Conditional compilation definition : AP_EXTENDED_ESC_TELEM_ENABLE - ESCX log structure - Update functionalities for ESCX status message - ESCX DroneCAN callback
peterbarker
approved these changes
Aug 6, 2024
| @@ -492,6 +492,18 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem | |||
| telemdata.usage_s = new_data.usage_s; | |||
| } | |||
|
|
|||
| #if AP_EXTENDED_ESC_TELEM_ENABLED | |||
| if (data_mask & AP_ESC_Telem_Backend::TelemetryType::INPUT_DUTY) { | |||
| _telem_data[esc_index].input_duty = new_data.input_duty; | |||
There was a problem hiding this comment.
Should _telem_data[esc_index] be replaced with telemdata? When we opened the original PR you based this, we did not notice the changes made in #26252
I can open the PR to fix that if you think we should.
There was a problem hiding this comment.
@robertlong13 yeah your right. A PR would be great, thanks!
robertlong13
added a commit
to robertlong13/ardupilot
that referenced
this pull request
Sep 10, 2024
When ArduPilot#27755 was first opened, ArduPilot#26252 had not been merged yet. ArduPilot#26252 refactored a bit, but the change was not applied to ArduPilot#27755. This commit fixes that. This should not change the behavior of the code.
robertlong13
added a commit
to robertlong13/ardupilot
that referenced
this pull request
Sep 10, 2024
When ArduPilot#27755 was first opened, ArduPilot#26252 had not been merged yet. ArduPilot#26252 refactored a bit, but the change was not applied to ArduPilot#27755. This commit fixes that. This should not change the behavior of the code.
peterbarker
pushed a commit
that referenced
this pull request
Sep 11, 2024
arg7
pushed a commit
to arg7/ardupilot
that referenced
this pull request
Sep 12, 2024
When ArduPilot#27755 was first opened, ArduPilot#26252 had not been merged yet. ArduPilot#26252 refactored a bit, but the change was not applied to ArduPilot#27755. This commit fixes that. This should not change the behavior of the code.
AlexisMGL
pushed a commit
to AlexisMGL/ardupilot
that referenced
this pull request
Sep 12, 2024
When ArduPilot#27755 was first opened, ArduPilot#26252 had not been merged yet. ArduPilot#26252 refactored a bit, but the change was not applied to ArduPilot#27755. This commit fixes that. This should not change the behavior of the code.
BloodSakura3774
pushed a commit
to BloodSakura3774/ardupilot
that referenced
this pull request
Oct 18, 2024
When ArduPilot#27755 was first opened, ArduPilot#26252 had not been merged yet. ArduPilot#26252 refactored a bit, but the change was not applied to ArduPilot#27755. This commit fixes that. This should not change the behavior of the code.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This is a rework of #27248. This adds support for the DroneCAN extended ESC status message. The new fields input duty, output duty and flags are logged in a new message. The extended message also contains motor temperature which is logged in the existing ESC message. This functionality is enabled with
AP_EXTENDED_ESC_TELEM_ENABLEDwhich is true if DroneCAN is enabled.A number of ESCs from APD and Currawong support this message.