AP_ESC_Telem: log raw RPM information

Icatme · Sep 1, 2021 · 9281982 · 9281982
1 parent 4ecdf90
commit 9281982
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -377,6 +377,8 @@ void AP_ESC_Telem::update()
 
                 float rpm = 0.0f;
                 get_rpm(i, rpm);
+                float rawrpm = 0.0f;
+                get_raw_rpm(i, rawrpm);
 
                 // Write ESC status messages
                 //   id starts from 0
@@ -392,6 +394,7 @@ void AP_ESC_Telem::update()
                     time_us     : AP_HAL::micros64(),
                     instance    : i,
                     rpm         : (int32_t) rpm * 100,
+                    raw_rpm     : (int32_t) rpm * 100,
                     voltage     : _telem_data[i].voltage,
                     current     : _telem_data[i].current,
                     esc_temp    : _telem_data[i].temperature_cdeg,

diff --git a/libraries/AP_ESC_Telem/LogStructure.h b/libraries/AP_ESC_Telem/LogStructure.h
@@ -10,6 +10,7 @@
 // @Field: TimeUS: microseconds since system startup
 // @Field: Instance: ESC instance number
 // @Field: RPM: reported motor rotation rate
+// @Field: RawRPM: reported motor rotation rate without slew adjustment
 // @Field: Volt: Perceived input voltage for the ESC
 // @Field: Curr: Perceived current through the ESC
 // @Field: Temp: ESC temperature in centi-degrees C
@@ -21,6 +22,7 @@ struct PACKED log_Esc {
     uint64_t time_us;
     uint8_t instance;
     int32_t rpm;
+    int32_t raw_rpm;
     float voltage;
     float current;
     int16_t esc_temp;
@@ -31,4 +33,4 @@ struct PACKED log_Esc {
 
 #define LOG_STRUCTURE_FROM_ESC_TELEM \
     { LOG_ESC_MSG, sizeof(log_Esc), \
-      "ESC",  "QBeffcfcf", "TimeUS,Instance,RPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qvAOaO%", "F-B--BCB-" , true },
+      "ESC",  "QBeeffcfcf", "TimeUS,Instance,RPM,RawRPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qqvAOaO%", "F-BB--BCB-" , true },