AP_Scripting: added bindings for telemetry data for ESCs

allows more complete ESC protocol implementation in scripting
tridge · Nov 1, 2023 · 2c1ea3d · 2c1ea3d
1 parent 69beea6
commit 2c1ea3d
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Showing 2 changed files with 22 additions and 1 deletion.
diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
@@ -1737,8 +1737,19 @@ function param:add_param(table_key, param_num, name, default_value) end
 ---@class esc_telem
 esc_telem = {}
 
--- desc
+-- set RPM scaling factor for an ESC instance
+---@param instance integer
+---@param rpm_scale number
+function esc_telem:set_rpm_scale(instance, rpm_scale) end
+
+-- update telemetry data for an ESC instance
 ---@param instance integer
+---@param telemdata ESCTelemetryData_ud
+---@param data_mask integer
+function esc_telem:update_telem_data(instance, telemdata, data_mask) end
+
+-- desc
+---@param param1 integer
 ---@return uint32_t_ud|nil
 function esc_telem:get_usage_seconds(instance) end
 

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -380,6 +380,15 @@ singleton AP_OpticalFlow method healthy boolean
 singleton AP_OpticalFlow method quality uint8_t
 
 include AP_ESC_Telem/AP_ESC_Telem.h
+
+userdata AP_ESC_Telem_Backend::TelemetryData depends (HAL_WITH_ESC_TELEM == 1)
+userdata AP_ESC_Telem_Backend::TelemetryData rename ESCTelemetryData
+userdata AP_ESC_Telem_Backend::TelemetryData field temperature_cdeg int16_t'skip_check write
+userdata AP_ESC_Telem_Backend::TelemetryData field voltage float'skip_check write
+userdata AP_ESC_Telem_Backend::TelemetryData field current float'skip_check write
+userdata AP_ESC_Telem_Backend::TelemetryData field consumption_mah float'skip_check write
+userdata AP_ESC_Telem_Backend::TelemetryData field motor_temp_cdeg int16_t'skip_check write
+
 singleton AP_ESC_Telem depends HAL_WITH_ESC_TELEM == 1
 singleton AP_ESC_Telem rename esc_telem
 singleton AP_ESC_Telem method get_rpm boolean uint8_t 0 NUM_SERVO_CHANNELS float'Null
@@ -390,6 +399,7 @@ singleton AP_ESC_Telem method get_voltage boolean uint8_t 0 NUM_SERVO_CHANNELS f
 singleton AP_ESC_Telem method get_consumption_mah boolean uint8_t 0 NUM_SERVO_CHANNELS float'Null
 singleton AP_ESC_Telem method get_usage_seconds boolean uint8_t 0 NUM_SERVO_CHANNELS uint32_t'Null
 singleton AP_ESC_Telem method update_rpm void uint8_t 0 NUM_SERVO_CHANNELS uint16_t'skip_check float'skip_check
+singleton AP_ESC_Telem method update_telem_data void uint8_t 0 NUM_SERVO_CHANNELS AP_ESC_Telem_Backend::TelemetryData uint16_t'skip_check
 singleton AP_ESC_Telem method set_rpm_scale void uint8_t 0 NUM_SERVO_CHANNELS float'skip_check
 
 include AP_Param/AP_Param.h