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AP_ESC_Telem: log DroneCAN power percentage in extended ESC message #27771

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merged 2 commits into from
Aug 7, 2024
Merged

AP_ESC_Telem: log DroneCAN power percentage in extended ESC message #27771

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4082980
AP_DroneCAN: populate ESC power percentage
IamPete1 Feb 2, 2024
a899bcb
AP_ESC_Telem: add logging of power percentage
IamPete1 Jul 27, 2024
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9 changes: 8 additions & 1 deletion libraries/AP_DroneCAN/AP_DroneCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1447,14 +1447,21 @@ void AP_DroneCAN::handle_ESC_status(const CanardRxTransfer& transfer, const uavc
.temperature_cdeg = int16_t((KELVIN_TO_C(msg.temperature)) * 100),
.voltage = msg.voltage,
.current = msg.current,
#if AP_EXTENDED_ESC_TELEM_ENABLED
.power_percentage = msg.power_rating_pct,
#endif
};

update_rpm(esc_index, msg.rpm, msg.error_count);
update_telem_data(esc_index, t,
(isnan(msg.current) ? 0 : AP_ESC_Telem_Backend::TelemetryType::CURRENT)
| (isnan(msg.voltage) ? 0 : AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)
| (isnan(msg.temperature) ? 0 : AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE));
| (isnan(msg.temperature) ? 0 : AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE)
#if AP_EXTENDED_ESC_TELEM_ENABLED
| AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE
#endif
);
#endif // HAL_WITH_ESC_TELEM
}

#if AP_EXTENDED_ESC_TELEM_ENABLED
Expand Down
18 changes: 12 additions & 6 deletions libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -502,6 +502,9 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::FLAGS) {
_telem_data[esc_index].flags = new_data.flags;
}
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE) {
_telem_data[esc_index].power_percentage = new_data.power_percentage;
}
#endif //AP_EXTENDED_ESC_TELEM_ENABLED

#if AP_EXTENDED_DSHOT_TELEM_V2_ENABLED
Expand Down Expand Up @@ -657,7 +660,8 @@ void AP_ESC_Telem::update()
const bool has_ext_data = telemdata.types &
(AP_ESC_Telem_Backend::TelemetryType::INPUT_DUTY |
AP_ESC_Telem_Backend::TelemetryType::OUTPUT_DUTY |
AP_ESC_Telem_Backend::TelemetryType::FLAGS);
AP_ESC_Telem_Backend::TelemetryType::FLAGS |
AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE);
if (has_ext_data) {
// @LoggerMessage: ESCX
// @Description: ESC extended telemetry data
Expand All @@ -666,16 +670,18 @@ void AP_ESC_Telem::update()
// @Field: inpct: input duty cycle in percent
// @Field: outpct: output duty cycle in percent
// @Field: flags: manufacturer-specific status flags
// @Field: Pwr: Power percentage
AP::logger().WriteStreaming("ESCX",
"TimeUS,Instance,inpct,outpct,flags",
"s" "#" "%" "%" "-",
"F" "-" "-" "-" "-",
"Q" "B" "B" "B" "I",
"TimeUS,Instance,inpct,outpct,flags,Pwr",
"s" "#" "%" "%" "-" "%",
"F" "-" "-" "-" "-" "-",
"Q" "B" "B" "B" "I" "B",
AP_HAL::micros64(),
i,
telemdata.input_duty,
telemdata.output_duty,
telemdata.flags);
telemdata.flags,
telemdata.power_percentage);
}
#endif //AP_EXTENDED_ESC_TELEM_ENABLED
}
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4 changes: 3 additions & 1 deletion libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
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Expand Up @@ -27,6 +27,7 @@ class AP_ESC_Telem_Backend {
uint8_t input_duty; // input duty cycle
uint8_t output_duty; // output duty cycle
uint32_t flags; // Status flags
uint8_t power_percentage; // Percentage of output power
#endif // AP_EXTENDED_ESC_TELEM_ENABLED

// return true if the data is stale
Expand Down Expand Up @@ -58,7 +59,8 @@ class AP_ESC_Telem_Backend {
#if AP_EXTENDED_ESC_TELEM_ENABLED
INPUT_DUTY = 1 << 10,
OUTPUT_DUTY = 1 << 11,
FLAGS = 1 << 12
FLAGS = 1 << 12,
POWER_PERCENTAGE = 1 << 13,
#endif // AP_EXTENDED_ESC_TELEM_ENABLED
};

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