Add telemetry dshot data info to the motors tab

locales/en/messages.json

@@ -2298,6 +2298,22 @@
     "motorsSensorAccelSelect":{
         "message": "accel"
     },
+    "motorsTelemetryHelp": {
+        "message": "This numbers show the telemetry info received from the ESCs if available. It can show the actual speed of motors (in RPM), the error rate of the telemetry link and the temperature of the ESCs.",
+        "description": "Help text for the telemetry values in the motors tab."
+    },
+    "motorsRPM": {
+        "message": "R: {{motorsRpmValue}}",
+        "description": "To put under the motors in the motors tab. KEEP IT SHORT or not translate. Keep the letters as prefix. Shows the RPM of the motor if telemetry is available."
+    },
+    "motorsRPMError": {
+        "message": "E: {{motorsErrorValue}}%",
+        "description": "To put under the motors in the motors tab. KEEP IT SHORT or not translate. Shows the error of motor telemetry if available."
+    },
+    "motorsESCTemperature": {
+        "message": "T: {{motorsESCTempValue}}°C",
+        "description": "To put under the motors in the motors tab. KEEP IT SHORT or not translate. Shows the ESC temperature if available."
+    },
     "motorsMaster": {
         "message": "Master"
     },

src/css/tabs/motors.css

@@ -182,12 +182,12 @@
 
 .tab-motors .left.motors {
     float: left;
-    width: calc(50% - 50px);
+    width: calc(60% - 20px);
 }
 
 .tab-motors .right.servos {
     float: right;
-    width: 50%;
+    width: 40%;
 }
 
 .tab-motors .title {
@@ -251,9 +251,14 @@
     bottom: 45px;
     text-align: center;
     font-weight: bold;
+    font-size: 10px;
     color: #474747;
 }
 
+.tab-motors .m-block .label.rpm_info {
+    bottom: 28px;
+}
+
 .tab-motors .m-block .indicator .label {
     color: white;
 }
@@ -274,11 +279,11 @@
 }
 
 .tab-motors .motor_testing {
-    margin-top: 15px;
+    margin-top: 5px;
 }
 
 .tab-motors .motor_testing .left {
-    width: calc(50% - 50px);
+    width: calc(60% - 20px);
 }
 
 .tab-motors .motor_testing .sliders input {
@@ -296,20 +301,36 @@
     margin-top: 5px;
 }
 
-.tab-motors .motor_testing .values li:first-child {
+.tab-motors .motor_testing .telemetry {
+    display: flow-root;
+    margin-bottom: 5px;
+}
+
+.tab-motors .motor_testing .telemetry .warning {
+    color: var(--error);
+}
+
+.tab-motors .motor_testing .values li:first-child,
+.tab-motors .motor_testing .telemetry li:first-child {
     margin-left: 0px;
 }
 
-.tab-motors .motor_testing .values li {
+.tab-motors .motor_testing .values li,
+.tab-motors .motor_testing .telemetry li {
     float: left;
     width: calc((100% / 9) - 10px);
     margin-left: 10px;
     text-align: center;
+    font-size: 10px;
+}
+
+.tab-motors .motor_testing .telemetry li {
+    white-space: pre;
 }
 
 .tab-motors .motor_testing .notice {
     float: right;
-    width: calc(50% - 24px);
+    width: calc(40% - 24px);
     padding: 5px;
     border: 2px solid #ccc;
     border-radius: 3px;

src/js/fc.js

@@ -26,6 +26,7 @@ var SERVO_RULES;
 var SERIAL_CONFIG;
 var SENSOR_DATA;
 var MOTOR_DATA;
+var MOTOR_TELEMETRY_DATA;
 var SERVO_DATA;
 var GPS_DATA;
 var ANALOG;
@@ -210,6 +211,15 @@ var FC = {
         MOTOR_DATA =                    new Array(8);
         SERVO_DATA =                    new Array(8);
 
+        MOTOR_TELEMETRY_DATA = {
+            rpm:                        [0, 0, 0, 0, 0, 0, 0, 0],
+            invalidPercent:             [0, 0, 0, 0, 0, 0, 0, 0],
+            temperature:                [0, 0, 0, 0, 0, 0, 0, 0],
+            voltage:                    [0, 0, 0, 0, 0, 0, 0, 0],
+            current:                    [0, 0, 0, 0, 0, 0, 0, 0],
+            consumption:                [0, 0, 0, 0, 0, 0, 0, 0],
+        };
+
         GPS_DATA = {
             fix:                        0,
             numSat:                     0,
@@ -277,6 +287,10 @@ var FC = {
             minthrottle:                0,
             maxthrottle:                0,
             mincommand:                 0,
+            motor_count:                0,
+            motor_poles:                0,
+            use_dshot_telemetry:        false,
+            use_esc_sensor:             false,
         };
 
         GPS_CONFIG = {

src/js/msp/MSPCodes.js

@@ -115,6 +115,8 @@ var MSPCodes = {
     MSP_VTXTABLE_BAND:              137,
     MSP_VTXTABLE_POWERLEVEL:        138,
 
+    MSP_MOTOR_TELEMETRY:            139,
+
     MSP_STATUS_EX:                  150,
 
     MSP_UID:                        160,

src/js/msp/MSPHelper.js

@@ -142,6 +142,17 @@ MspHelper.prototype.process_data = function(dataHandler) {
                     MOTOR_DATA[i] = data.readU16();
                 }
                 break;
+            case MSPCodes.MSP_MOTOR_TELEMETRY:
+                var telemMotorCount = data.readU8();
+                for (let i = 0; i < telemMotorCount; i++) {
+                    MOTOR_TELEMETRY_DATA.rpm[i] = data.readU32();   // RPM
+                    MOTOR_TELEMETRY_DATA.invalidPercent[i] = data.readU16();   // 10000 = 100.00%
+                    MOTOR_TELEMETRY_DATA.temperature[i] = data.readU8();       // degrees celsius
+                    MOTOR_TELEMETRY_DATA.voltage[i] = data.readU16();          // 0.01V per unit
+                    MOTOR_TELEMETRY_DATA.current[i] = data.readU16();          // 0.01A per unit
+                    MOTOR_TELEMETRY_DATA.consumption[i] = data.readU16();      // mAh
+                }
+                break;
             case MSPCodes.MSP_RC:
                 RC.active_channels = data.byteLength / 2;
                 for (var i = 0; i < RC.active_channels; i++) {
@@ -392,6 +403,12 @@ MspHelper.prototype.process_data = function(dataHandler) {
                 MOTOR_CONFIG.minthrottle = data.readU16(); // 0-2000
                 MOTOR_CONFIG.maxthrottle = data.readU16(); // 0-2000
                 MOTOR_CONFIG.mincommand = data.readU16(); // 0-2000
+                if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
+                    MOTOR_CONFIG.motor_count = data.readU8();
+                    MOTOR_CONFIG.motor_poles = data.readU8();
+                    MOTOR_CONFIG.use_dshot_telemetry = data.readU8() != 0;
+                    MOTOR_CONFIG.use_esc_sensor = data.readU8() != 0;
+                }
                 break;
             case MSPCodes.MSP_COMPASS_CONFIG:
                 COMPASS_CONFIG.mag_declination = data.read16() / 100; // -18000-18000
@@ -1604,7 +1621,10 @@ MspHelper.prototype.crunch = function(code) {
             buffer.push16(MOTOR_CONFIG.minthrottle)
                 .push16(MOTOR_CONFIG.maxthrottle)
                 .push16(MOTOR_CONFIG.mincommand);
-                break;
+            if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
+                buffer.push8(MOTOR_CONFIG.motor_poles);
+            }
+            break;
         case MSPCodes.MSP_SET_GPS_CONFIG:
             buffer.push8(GPS_CONFIG.provider)
                 .push8(GPS_CONFIG.ublox_sbas);

src/js/tabs/motors.js

@@ -45,7 +45,15 @@ TABS.motors.initialize = function (callback) {
     }
 
     function load_motor_data() {
-        MSP.send_message(MSPCodes.MSP_MOTOR, false, false, load_mixer_config);
+        MSP.send_message(MSPCodes.MSP_MOTOR, false, false, load_motor_telemetry_data);
+    }
+
+    function load_motor_telemetry_data() {
+        if (MOTOR_CONFIG.use_dshot_telemetry || MOTOR_CONFIG.use_esc_sensor) {
+            MSP.send_message(MSPCodes.MSP_MOTOR_TELEMETRY, false, false, load_mixer_config);
+        } else {
+            load_mixer_config();
+        }
     }
 
     function load_mixer_config() {
@@ -216,6 +224,15 @@ TABS.motors.initialize = function (callback) {
 
         $('#motorsEnableTestMode').prop('checked', false);
 
+        if (semver.lt(CONFIG.apiVersion, "1.42.0") || !(MOTOR_CONFIG.use_dshot_telemetry || MOTOR_CONFIG.use_esc_sensor)) {
+            $(".motor_testing .telemetry").hide();
+        } else {
+            // Hide telemetry from unused motors (to hide the tooltip in an empty blank space)
+            for (let i = MOTOR_CONFIG.motor_count; i < MOTOR_DATA.length; i++) {
+                $(".motor_testing .telemetry .motor-" + i).hide();
+            }
+        }
+
         update_model(MIXER_CONFIG.mixer);
 
         // Always start with default/empty sensor data array, clean slate all
@@ -434,7 +451,7 @@ TABS.motors.initialize = function (callback) {
         }
 
         var motors_wrapper = $('.motors .bar-wrapper'),
-        servos_wrapper = $('.servos .bar-wrapper');
+            servos_wrapper = $('.servos .bar-wrapper');
 
         for (var i = 0; i < 8; i++) {
             motors_wrapper.append('\
@@ -592,7 +609,15 @@ TABS.motors.initialize = function (callback) {
         }
 
         function get_motor_data() {
-            MSP.send_message(MSPCodes.MSP_MOTOR, false, false, get_servo_data);
+            MSP.send_message(MSPCodes.MSP_MOTOR, false, false, get_motor_telemetry_data);
+        }
+
+        function get_motor_telemetry_data() {
+            if (MOTOR_CONFIG.use_dshot_telemetry || MOTOR_CONFIG.use_esc_sensor) {
+                MSP.send_message(MSPCodes.MSP_MOTOR_TELEMETRY, false, false, get_servo_data);
+            } else {
+                get_servo_data();
+            }
         }
 
         function get_servo_data() {
@@ -618,6 +643,48 @@ TABS.motors.initialize = function (callback) {
                     'height' : height + 'px',
                     'background-color' : 'rgba(255,187,0,1.'+ color +')'
                 });
+
+                if (i < MOTOR_CONFIG.motor_count && (MOTOR_CONFIG.use_dshot_telemetry || MOTOR_CONFIG.use_esc_sensor)) {
+
+                    const MAX_INVALID_PERCENT = 100,
+                          MAX_VALUE_SIZE = 6;
+
+                    let rpmMotorValue = MOTOR_TELEMETRY_DATA.rpm[i];
+
+                    // Reduce the size of the value if too big
+                    if (rpmMotorValue > 999999) {
+                        rpmMotorValue = (rpmMotorValue / 1000000).toFixed(5 - (rpmMotorValue / 1000000).toFixed(0).toString().length) + "M";  
+                    }
+
+                    rpmMotorValue = rpmMotorValue.toString().padStart(MAX_VALUE_SIZE);
+                    let telemetryText = i18n.getMessage('motorsRPM', {motorsRpmValue: rpmMotorValue});
+
+                    
+                    if (MOTOR_CONFIG.use_dshot_telemetry) {
+
+                        let invalidPercent = MOTOR_TELEMETRY_DATA.invalidPercent[i];
+
+                        let classError = (invalidPercent > MAX_INVALID_PERCENT) ? "warning" : "";
+                        invalidPercent = (invalidPercent / 100).toFixed(2).toString().padStart(MAX_VALUE_SIZE);
+
+                        telemetryText += "<br><span class='" + classError + "'>";
+                        telemetryText += i18n.getMessage('motorsRPMError', {motorsErrorValue: invalidPercent});
+                        telemetryText += "</span>";
+                    }
+
+                    if (MOTOR_CONFIG.use_esc_sensor) {
+
+                        let escTemperature = MOTOR_TELEMETRY_DATA.temperature[i];
+
+                        telemetryText += "<br>";
+                        escTemperature = escTemperature.toString().padStart(MAX_VALUE_SIZE);
+                        telemetryText += i18n.getMessage('motorsESCTemperature', {motorsESCTempValue: escTemperature});
+                    }
+
+                    $('.motor_testing .telemetry .motor-' + i).html(telemetryText);
+                }
+                
+
             }
 
             // servo indicators are still using old (not flexible block scale), it will be changed in the future accordingly

src/tabs/motors.html

@@ -141,6 +141,19 @@
                 <div class="clear-both"></div>
                 <div class="motor_testing">
                     <div class="left">
+                        <div class="telemetry">
+                            <ul>
+                                <li><span class="motor-0 cf_tip" i18n_title="motorsTelemetryHelp">&nbsp;</span></li>
+                                <li><span class="motor-1 cf_tip" i18n_title="motorsTelemetryHelp">&nbsp;</span></li>
+                                <li><span class="motor-2 cf_tip" i18n_title="motorsTelemetryHelp">&nbsp;</span></li>
+                                <li><span class="motor-3 cf_tip" i18n_title="motorsTelemetryHelp">&nbsp;</span></li>
+                                <li><span class="motor-4 cf_tip" i18n_title="motorsTelemetryHelp">&nbsp;</span></li>
+                                <li><span class="motor-5 cf_tip" i18n_title="motorsTelemetryHelp">&nbsp;</span></li>
+                                <li><span class="motor-6 cf_tip" i18n_title="motorsTelemetryHelp">&nbsp;</span></li>
+                                <li><span class="motor-7 cf_tip" i18n_title="motorsTelemetryHelp">&nbsp;</span></li>
+                                <li>&nbsp;</li>
+                            </ul>
+                        </div>
                         <div class="sliders">
                             <input type="range" min="1000" max="2000" value="1000" disabled="disabled"/>
                             <input type="range" min="1000" max="2000" value="1000" disabled="disabled"/>