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CarbonixUAV · May 24, 2024 · a4aa7bb · a4aa7bb
1 parent 344d84e
commit a4aa7bb
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Showing 4 changed files with 10 additions and 13 deletions.
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
@@ -1653,6 +1653,11 @@ void AP_Periph_FW::esc_telem_update()
         pkt.power_rating_pct = 0;
         pkt.error_count = 0;
 
+        /* temporary fix, until a fix for index-15 issue is identified */
+        if (pkt.voltage == nan || pkt.current == nan || pkt.temperature == nan || pkt.rpm == nan) {
+            continue;
+        }
+
         uint8_t buffer[UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE] {};
         uint16_t total_size = uavcan_equipment_esc_Status_encode(&pkt, buffer, !periph.canfdout());
         canard_broadcast(UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE,
@@ -1664,8 +1669,8 @@ void AP_Periph_FW::esc_telem_update()
         uavcan_equipment_esc_StatusExtended pkt2{};
         pkt2.esc_index = pkt.esc_index;
         bool has_ext_data = esc_telem.get_input_duty(i, pkt2.input_pct)
-                || esc_telem.get_output_duty(i, pkt2.output_pct)
-                || esc_telem.get_flags(i, pkt2.status_flags);
+                | esc_telem.get_output_duty(i, pkt2.output_pct)
+                | esc_telem.get_flags(i, pkt2.status_flags);
 
         if (has_ext_data) {
             uint8_t buffer_ext[UAVCAN_EQUIPMENT_ESC_STATUSEXTENDED_MAX_SIZE] {};

diff --git a/libraries/AP_BLHeli/AP_BLHeli.cpp b/libraries/AP_BLHeli/AP_BLHeli.cpp
@@ -151,12 +151,14 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
     // @RebootRequired: True
     AP_GROUPINFO("RVMASK",  12, AP_BLHeli, channel_reversed_mask, 0),
 
+#if HAL_WITH_ESC_TELEM
     // @Param: EXT_TLM
     // @DisplayName: Enable extended BLHeli telemetry
     // @Description: When set to 1, this listens for 13-byte extended telemetry packets from BLHeli ESCs
     // @Values: 0:Disabled,1:Enabled
     // @User: Advanced
-    AP_GROUPINFO("EXT_TLM",  13, AP_BLHeli, extended_telemetry, 0),
+    AP_GROUPINFO("EXTLM",  13, AP_BLHeli, extended_telemetry, 0),
+#endif
 
     AP_GROUPEND
 };

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -38,15 +38,6 @@ const AP_Param::GroupInfo AP_ESC_Telem::var_info[] = {
     // @Range: 0 31
     // @User: Standard
     AP_GROUPINFO("_MAV_OFS", 1, AP_ESC_Telem, mavlink_offset, 0),
-
-    // @Param: _EXT_TELEM
-    // @DisplayName: Extended ESC Telemetry 
-    // @Description: This enables extended telemetry for ESCs that support it.
-    // @Values: 0:None,1:Enable extended telemetry
-    // @Range: 0 1
-    // @User: Standard
-    // @RebootRequired: False
-    AP_GROUPINFO("_EXTEND", 2, AP_ESC_Telem, ext_esc_telem, 0),
 
     AP_GROUPEND
 };

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.h b/libraries/AP_ESC_Telem/AP_ESC_Telem.h
@@ -140,7 +140,6 @@ class AP_ESC_Telem {
     bool _have_data;
 
     AP_Int8 mavlink_offset;
-    AP_Int8 ext_esc_telem;
 
     static AP_ESC_Telem *_singleton;
 };