AP_Periph: allow build with ESC telemetry and BLHeli support

Tools/AP_Periph/AP_Periph.h

@@ -194,6 +194,11 @@ public:
 #endif
 
 #ifdef HAL_PERIPH_ENABLE_RC_OUT
+#if HAL_WITH_ESC_TELEM
+    AP_ESC_Telem esc_telem;
+    uint32_t last_esc_telem_update_ms;
+#endif
+
     SRV_Channels servo_channels;
     bool rcout_has_new_data_to_update;
 

Tools/AP_Periph/rc_out.cpp

@@ -116,6 +116,13 @@ void AP_Periph_FW::rcout_update()
     SRV_Channels::cork();
     SRV_Channels::output_ch_all();
     SRV_Channels::push();
+#if HAL_WITH_ESC_TELEM
+    uint32_t now_ms = AP_HAL::millis();
+    if (now_ms - last_esc_telem_update_ms >= 100) {
+        last_esc_telem_update_ms = now_ms;
+        esc_telem.update();
+    }
+#endif
 }
 
 #endif // HAL_PERIPH_ENABLE_RC_OUT

Tools/AP_Periph/wscript

@@ -60,6 +60,8 @@ def build(bld):
                      'AP_AccelCal',
                      'AP_Logger',
                      'AC_PID',
+                     'AP_BLHeli',
+                     'AP_ESC_Telem',
                      ]
     bld.ap_stlib(
         name= 'AP_Periph_libs',