AP_BattMonitor: ESC: add mask parameter

SW-97

libraries/AP_BattMonitor/AP_BattMonitor.cpp

@@ -53,6 +53,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
     // @Path: AP_BattMonitor_UAVCAN.cpp
     // @Group: _
     // @Path: AP_BattMonitor_FuelLevel_Analog.cpp
+    // @Group: _
+    // @Path: AP_BattMonitor_ESC.cpp
     AP_SUBGROUPVARPTR(drivers[0], "_", 41, AP_BattMonitor, backend_var_info[0]),
 
 #if AP_BATT_MONITOR_MAX_INSTANCES > 1
@@ -70,6 +72,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
     // @Path: AP_BattMonitor_UAVCAN.cpp
     // @Group: 2_
     // @Path: AP_BattMonitor_FuelLevel_Analog.cpp
+    // @Group: 2_
+    // @Path: AP_BattMonitor_ESC.cpp
     AP_SUBGROUPVARPTR(drivers[1], "2_", 42, AP_BattMonitor, backend_var_info[1]),
 #endif
 
@@ -88,6 +92,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
     // @Path: AP_BattMonitor_UAVCAN.cpp
     // @Group: 3_
     // @Path: AP_BattMonitor_FuelLevel_Analog.cpp
+    // @Group: 3_
+    // @Path: AP_BattMonitor_ESC.cpp
     AP_SUBGROUPVARPTR(drivers[2], "3_", 43, AP_BattMonitor, backend_var_info[2]),
 #endif
 
@@ -106,6 +112,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
     // @Path: AP_BattMonitor_UAVCAN.cpp
     // @Group: 4_
     // @Path: AP_BattMonitor_FuelLevel_Analog.cpp
+    // @Group: 4_
+    // @Path: AP_BattMonitor_ESC.cpp
     AP_SUBGROUPVARPTR(drivers[3], "4_", 44, AP_BattMonitor, backend_var_info[3]),
 #endif
 
@@ -124,6 +132,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
     // @Path: AP_BattMonitor_UAVCAN.cpp
     // @Group: 5_
     // @Path: AP_BattMonitor_FuelLevel_Analog.cpp
+    // @Group: 5_
+    // @Path: AP_BattMonitor_ESC.cpp
     AP_SUBGROUPVARPTR(drivers[4], "5_", 45, AP_BattMonitor, backend_var_info[4]),
 #endif
 
@@ -142,6 +152,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
     // @Path: AP_BattMonitor_UAVCAN.cpp
     // @Group: 6_
     // @Path: AP_BattMonitor_FuelLevel_Analog.cpp
+    // @Group: 6_
+    // @Path: AP_BattMonitor_ESC.cpp
     AP_SUBGROUPVARPTR(drivers[5], "6_", 46, AP_BattMonitor, backend_var_info[5]),
 #endif
 
@@ -160,6 +172,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
     // @Path: AP_BattMonitor_UAVCAN.cpp
     // @Group: 7_
     // @Path: AP_BattMonitor_FuelLevel_Analog.cpp
+    // @Group: 7_
+    // @Path: AP_BattMonitor_ESC.cpp
     AP_SUBGROUPVARPTR(drivers[6], "7_", 47, AP_BattMonitor, backend_var_info[6]),
 #endif
 
@@ -178,6 +192,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
     // @Path: AP_BattMonitor_UAVCAN.cpp
     // @Group: 8_
     // @Path: AP_BattMonitor_FuelLevel_Analog.cpp
+    // @Group: 8_
+    // @Path: AP_BattMonitor_ESC.cpp
     AP_SUBGROUPVARPTR(drivers[7], "8_", 48, AP_BattMonitor, backend_var_info[7]),
 #endif
 
@@ -196,6 +212,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
     // @Path: AP_BattMonitor_UAVCAN.cpp
     // @Group: 9_
     // @Path: AP_BattMonitor_FuelLevel_Analog.cpp
+    // @Group: 9_
+    // @Path: AP_BattMonitor_ESC.cpp
     AP_SUBGROUPVARPTR(drivers[8], "9_", 49, AP_BattMonitor, backend_var_info[8]),
 #endif
 

libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp

@@ -21,6 +21,32 @@
 
 extern const AP_HAL::HAL &hal;
 
+const AP_Param::GroupInfo AP_BattMonitor_ESC::var_info[] = {
+
+    // Param indexes must be between 36 and 39 to avoid conflict with other battery monitor param tables loaded by pointer
+
+    // @Param: ESC_MASK
+    // @DisplayName: ESC mask
+    // @Description: If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
+    // @Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32
+    // @User: Standard
+    AP_GROUPINFO("ESC_MASK", 36, AP_BattMonitor_ESC, _mask, 0),
+
+    // Param indexes must be between 36 and 39 to avoid conflict with other battery monitor param tables loaded by pointer
+
+    AP_GROUPEND
+};
+
+// constructor. This incorporates initialisation as well.
+AP_BattMonitor_ESC::AP_BattMonitor_ESC(AP_BattMonitor &mon,
+                                       AP_BattMonitor::BattMonitor_State &mon_state,
+                                       AP_BattMonitor_Params &params):
+    AP_BattMonitor_Backend(mon, mon_state, params)
+{
+    AP_Param::setup_object_defaults(this, var_info);
+    _state.var_info = var_info;
+};
+
 void AP_BattMonitor_ESC::init(void)
 {
 }
@@ -36,9 +62,15 @@ void AP_BattMonitor_ESC::read(void)
     float current_sum = 0;
     float temperature_sum = 0;
     uint32_t highest_ms = 0;
-     _state.consumed_mah = delta_mah;
+    _state.consumed_mah = delta_mah;
 
+    const bool all_enabled = _mask == 0;
     for (uint8_t i=0; i<ESC_TELEM_MAX_ESCS; i++) {
+        if (!all_enabled && ((_mask & (1U<<i)) == 0)) {
+            // Only include ESCs set in mask
+            continue;
+        }
+
         int16_t  temperature_cdeg;
         float voltage;
         float current;

libraries/AP_BattMonitor/AP_BattMonitor_ESC.h

@@ -25,9 +25,7 @@ class AP_BattMonitor_ESC :public AP_BattMonitor_Backend
 {
 public:
     // constructor. This incorporates initialisation as well.
-    AP_BattMonitor_ESC(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params &params):
-        AP_BattMonitor_Backend(mon, mon_state, params)
-    {};
+    AP_BattMonitor_ESC(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params &params);
 
     virtual ~AP_BattMonitor_ESC(void) {};
 
@@ -46,7 +44,12 @@ class AP_BattMonitor_ESC :public AP_BattMonitor_Backend
     // reset remaining percentage to given value
     virtual bool reset_remaining(float percentage) override;
 
+    static const struct AP_Param::GroupInfo var_info[];
+
 private:
+
+    AP_Int32  _mask;
+
     bool have_current;
     bool have_temperature;
     float delta_mah;

libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp

@@ -30,7 +30,7 @@ const AP_Param::GroupInfo AP_BattMonitor_UAVCAN::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("CURR_MULT", 30, AP_BattMonitor_UAVCAN, _curr_mult, 1.0),
 
-    // Param indexes must be between 30 and 39 to avoid conflict with other battery monitor param tables loaded by pointer
+    // Param indexes must be between 30 and 35 to avoid conflict with other battery monitor param tables loaded by pointer
 
     AP_GROUPEND
 };