mavlink: publish ESC_INFO and ESC_STATUS

Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>

src/modules/mavlink/mavlink_main.cpp

@@ -1587,6 +1587,8 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
 		configure_stream_local("DEBUG_VECT", 1.0f);
 		configure_stream_local("DISTANCE_SENSOR", 0.5f);
+		configure_stream_local("ESC_INFO", 1.0f);
+		configure_stream_local("ESC_STATUS", 1.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 0.5f);
 		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
@@ -1620,6 +1622,8 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("ATTITUDE", 100.0f);
 		configure_stream_local("ALTITUDE", 10.0f);
 		configure_stream_local("DISTANCE_SENSOR", 10.0f);
+		configure_stream_local("ESC_INFO", 10.0f);
+		configure_stream_local("ESC_STATUS", 10.0f);
 		configure_stream_local("MOUNT_ORIENTATION", 10.0f);
 		configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
 		configure_stream_local("ODOMETRY", 30.0f);
@@ -1755,6 +1759,8 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("DEBUG", 50.0f);
 		configure_stream_local("DEBUG_FLOAT_ARRAY", 50.0f);
 		configure_stream_local("DEBUG_VECT", 50.0f);
+		configure_stream_local("ESC_INFO", 10.0f);
+		configure_stream_local("ESC_STATUS", 10.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 5.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 2.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);

src/modules/mavlink/mavlink_messages.cpp

@@ -77,6 +77,7 @@
 #include <uORB/topics/debug_vect.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/distance_sensor.h>
+#include <uORB/topics/esc_status.h>
 #include <uORB/topics/estimator_sensor_bias.h>
 #include <uORB/topics/estimator_status.h>
 #include <uORB/topics/geofence_result.h>
@@ -5314,6 +5315,181 @@ protected:
 	}
 };
 
+class MavlinkStreamESCInfo : public MavlinkStream
+{
+public:
+	const char *get_name() const override
+	{
+		return MavlinkStreamESCInfo::get_name_static();
+	}
+
+	static constexpr const char *get_name_static()
+	{
+		return "ESC_INFO";
+	}
+
+	static constexpr uint16_t get_id_static()
+	{
+		return MAVLINK_MSG_ID_ESC_INFO;
+	}
+
+	uint16_t get_id() override
+	{
+		return get_id_static();
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamESCInfo(mavlink);
+	}
+
+	unsigned get_size() override
+	{
+		static constexpr unsigned size_per_batch = MAVLINK_MSG_ID_ESC_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+		return _esc_status_sub.advertised() ? size_per_batch * _number_of_batches : 0;
+	}
+
+private:
+	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
+
+	/* do not allow top copying this class */
+	MavlinkStreamESCInfo(MavlinkStreamESCInfo &) = delete;
+	MavlinkStreamESCInfo &operator = (const MavlinkStreamESCInfo &) = delete;
+
+protected:
+	uint8_t _number_of_batches{0};
+
+	explicit MavlinkStreamESCInfo(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	bool send(const hrt_abstime t) override
+	{
+
+		esc_status_s esc_status;
+
+		uint8_t batch_size = MAVLINK_MSG_ESC_INFO_FIELD_TEMPERATURE_LEN;
+
+		if (_esc_status_sub.update(&esc_status)) {
+
+			mavlink_esc_info_t msg = {};
+
+			msg.time_usec = esc_status.timestamp;
+			msg.counter = esc_status.counter;
+			msg.count = esc_status.esc_count;
+			msg.connection_type = esc_status.esc_connectiontype;
+			msg.info = esc_status.esc_online_flags;
+
+			// Ceil value of integer division. For 1-4 esc => 1 batch, 5-8 esc => 2 batches etc
+			_number_of_batches = ceilf((float)esc_status.esc_count / batch_size);
+
+			for (int batch_number = 0; batch_number < _number_of_batches; batch_number++) {
+
+				msg.index = batch_number * batch_size;
+
+				for (int esc_index = 0; esc_index < batch_size ; esc_index++) {
+
+					msg.failure_flags[esc_index] = esc_status.esc[esc_index].failures;
+					msg.error_count[esc_index] = esc_status.esc[esc_index].esc_errorcount;
+					msg.temperature[esc_index] = esc_status.esc[esc_index].esc_temperature;
+				}
+
+				mavlink_msg_esc_info_send_struct(_mavlink->get_channel(), &msg);
+
+			}
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+class MavlinkStreamESCStatus : public MavlinkStream
+{
+public:
+	const char *get_name() const override
+	{
+		return MavlinkStreamESCStatus::get_name_static();
+	}
+
+	static constexpr const char *get_name_static()
+	{
+		return "ESC_STATUS";
+	}
+
+	static constexpr uint16_t get_id_static()
+	{
+		return MAVLINK_MSG_ID_ESC_STATUS;
+	}
+
+	uint16_t get_id() override
+	{
+		return get_id_static();
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamESCStatus(mavlink);
+	}
+
+	unsigned get_size() override
+	{
+		static constexpr unsigned size_per_batch = MAVLINK_MSG_ID_ESC_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+		return _esc_status_sub.advertised() ? size_per_batch * _number_of_batches : 0;
+	}
+
+private:
+	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
+
+	/* do not allow top copying this class */
+	MavlinkStreamESCStatus(MavlinkStreamESCStatus &) = delete;
+	MavlinkStreamESCStatus &operator = (const MavlinkStreamESCStatus &) = delete;
+
+protected:
+
+	uint8_t _number_of_batches{0};
+
+	explicit MavlinkStreamESCStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	bool send(const hrt_abstime t) override
+	{
+
+		esc_status_s esc_status;
+		uint8_t batch_size = MAVLINK_MSG_ESC_STATUS_FIELD_RPM_LEN;
+
+		if (_esc_status_sub.update(&esc_status)) {
+
+			mavlink_esc_status_t msg = {};
+
+			msg.time_usec = esc_status.timestamp;
+
+			// Ceil value of integer division. For 1-4 esc => 1 batch, 5-8 esc => 2 batches etc
+			_number_of_batches = ceilf((float)esc_status.esc_count / batch_size);
+
+			for (int batch_number = 0; batch_number < _number_of_batches; batch_number++) {
+
+				msg.index = batch_number * batch_size;
+
+				for (int esc_index = 0; esc_index < batch_size ; esc_index++) {
+
+					msg.rpm[esc_index] = esc_status.esc[esc_index].esc_rpm;
+					msg.voltage[esc_index] = esc_status.esc[esc_index].esc_voltage;
+					msg.current[esc_index] = esc_status.esc[esc_index].esc_current;
+				}
+
+				mavlink_msg_esc_status_send_struct(_mavlink->get_channel(), &msg);
+
+			}
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+
 static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamHeartbeat>(),
 	create_stream_list_item<MavlinkStreamStatustext>(),
@@ -5375,6 +5551,8 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamPing>(),
 	create_stream_list_item<MavlinkStreamOrbitStatus>(),
 	create_stream_list_item<MavlinkStreamObstacleDistance>(),
+	create_stream_list_item<MavlinkStreamESCInfo>(),
+	create_stream_list_item<MavlinkStreamESCStatus>(),
 	create_stream_list_item<MavlinkStreamAutopilotVersion>(),
 	create_stream_list_item<MavlinkStreamProtocolVersion>(),
 	create_stream_list_item<MavlinkStreamFlightInformation>(),