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Add motor telemetry data to MSP

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Adds the RPM (ESC sensor or DSHOT telemetry), invalid packet stats (DSHOT telemetry), and ESC temperature (ESC sensor) for each motor to MSP.

Adds controlling flags and `motor_poles` to `MSP_MOTOR_CONFIG`.

Added to the MSP_MOTOR_CONFIG message:
U8    configured motor count
U8    motor poles
U8    dshot telemetry enabled (boolean)
U8    esc sensor enabled (boolean)

New MSP_MOTOR_DSHOT_TELEMETRY message
U8    motor_count - number of active motors for which data will follow
Loop for motor_count
U32   motor_rpm
U16   invalid_packet_percent - 2 decimal places. So 10000 is 100.00%
U8    esc temperature (degrees celcius)
U16   esc voltage (0.01V per unit)
U16   esc current (0.01A per unit)
U16   esc mAh consumption
This commit is contained in:
Bruce Luckcuck 2019-08-17 15:23:19 -04:00
parent b215def714
commit d698a559c5
2 changed files with 72 additions and 0 deletions
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1
src/main/msp/msp_protocol.h
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@ -283,6 +283,7 @@
#define MSP_GPS_RESCUE_PIDS 136 //out message GPS Rescues's throttleP and velocity PIDS + yaw P
#define MSP_VTXTABLE_BAND 137 //out message vtxTable band/channel data
#define MSP_VTXTABLE_POWERLEVEL 138 //out message vtxTable powerLevel data
#define MSP_MOTOR_TELEMETRY 139 //out message Per-motor telemetry data (RPM, packet stats, ESC temp, etc.)
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed