Copter: generalise ESC telemetry to allow harmonic notch handling with other ESCs

ArduCopter/system.cpp

@@ -1,5 +1,5 @@
 #include "Copter.h"
-#include <AP_BLHeli/AP_BLHeli.h>
+#include <AP_ESC_Telem/AP_ESC_Telem.h>
 
 /*****************************************************************************
 *   The init_ardupilot function processes everything we need for an in - air restart
@@ -278,12 +278,12 @@ void Copter::update_dynamic_notch()
             }
             break;
 #endif
-#ifdef HAVE_AP_BLHELI_SUPPORT
+#if HAL_WITH_ESC_TELEM
         case HarmonicNotchDynamicMode::UpdateBLHeli: // BLHeli based tracking
             // set the harmonic notch filter frequency scaled on measured frequency
             if (ins.has_harmonic_option(HarmonicNotchFilterParams::Options::DynamicHarmonic)) {
                 float notches[INS_MAX_NOTCHES];
-                const uint8_t num_notches = AP_BLHeli::get_singleton()->get_motor_frequencies_hz(INS_MAX_NOTCHES, notches);
+                const uint8_t num_notches = AP::esc_telem().get_motor_frequencies_hz(INS_MAX_NOTCHES, notches);
 
                 for (uint8_t i = 0; i < num_notches; i++) {
                     notches[i] =  MAX(ref_freq, notches[i]);
@@ -294,7 +294,7 @@ void Copter::update_dynamic_notch()
                     ins.update_harmonic_notch_freq_hz(throttle_freq);
                 }
             } else {
-                ins.update_harmonic_notch_freq_hz(MAX(ref_freq, AP_BLHeli::get_singleton()->get_average_motor_frequency_hz() * ref));
+                ins.update_harmonic_notch_freq_hz(MAX(ref_freq, AP::esc_telem().get_average_motor_frequency_hz() * ref));
             }
             break;
 #endif