Hi,
I am trying to display T-Motors Thunder ESC telem values on the Quick Tab of Mission Planner. First I define some params, then parse telem data, and then display values. I am modifying an already existing driver for Hobbywing (Hobbywing Datalink Driver)
This is my code:
local PARAM_TABLE_KEY = 69
local PARAM_TABLE_PREFIX = "ESC_TH_"
local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
-- bind a parameter to a variable given
local function bind_param(name)
local p = Parameter()
assert(p:init(name), string.format('could not find %s parameter', name))
return p
end
-- add a parameter and bind it to a variable
local function bind_add_param(name, idx, default_value)
assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
return bind_param(PARAM_TABLE_PREFIX .. name)
end
-- setup script specific parameters
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 8), 'could not add param table')
-- Define parameters for ESC telemetry
ESC_TH_ENABLE = bind_add_param("ENABLE", 1, 0)
ESC_TH_POLES = bind_add_param("POLES", 2, 14)
ESC_TH_OFS = bind_add_param("OFS", 3, 0)
if ESC_TH_ENABLE:get() ~= 1 then
gcs:send_text(MAV_SEVERITY.INFO, "ESC_TH: disabled")
return
end
local uart = serial:find_serial(3) -- first scripting serial
if not uart then
gcs:send_text(MAV_SEVERITY.ERROR, "ESC_TH: unable to find serial port")
return
end
uart:begin(38400)
local function read_bytes(n)
local ret = ""
for _ = 1, n do
ret = ret .. string.char(uart:read())
end
return ret
end
local function discard_pending()
local n = uart:available():toint()
for _ = 1, n do
uart:read()
end
end
--[[
xmodem CRC implementation thanks to https://github.com/cloudwu/skynet
under MIT license
--]]
local XMODEMCRC16Lookup = {
0x0000,0x1021,0x2042,0x3063,0x4084,0x50a5,0x60c6,0x70e7,
0x8108,0x9129,0xa14a,0xb16b,0xc18c,0xd1ad,0xe1ce,0xf1ef,
0x1231,0x0210,0x3273,0x2252,0x52b5,0x4294,0x72f7,0x62d6,
0x9339,0x8318,0xb37b,0xa35a,0xd3bd,0xc39c,0xf3ff,0xe3de,
0x2462,0x3443,0x0420,0x1401,0x64e6,0x74c7,0x44a4,0x5485,
0xa56a,0xb54b,0x8528,0x9509,0xe5ee,0xf5cf,0xc5ac,0xd58d,
0x3653,0x2672,0x1611,0x0630,0x76d7,0x66f6,0x5695,0x46b4,
0xb75b,0xa77a,0x9719,0x8738,0xf7df,0xe7fe,0xd79d,0xc7bc,
0x48c4,0x58e5,0x6886,0x78a7,0x0840,0x1861,0x2802,0x3823,
0xc9cc,0xd9ed,0xe98e,0xf9af,0x8948,0x9969,0xa90a,0xb92b,
0x5af5,0x4ad4,0x7ab7,0x6a96,0x1a71,0x0a50,0x3a33,0x2a12,
0xdbfd,0xcbdc,0xfbbf,0xeb9e,0x9b79,0x8b58,0xbb3b,0xab1a,
0x6ca6,0x7c87,0x4ce4,0x5cc5,0x2c22,0x3c03,0x0c60,0x1c41,
0xedae,0xfd8f,0xcdec,0xddcd,0xad2a,0xbd0b,0x8d68,0x9d49,
0x7e97,0x6eb6,0x5ed5,0x4ef4,0x3e13,0x2e32,0x1e51,0x0e70,
0xff9f,0xefbe,0xdfdd,0xcffc,0xbf1b,0xaf3a,0x9f59,0x8f78,
0x9188,0x81a9,0xb1ca,0xa1eb,0xd10c,0xc12d,0xf14e,0xe16f,
0x1080,0x00a1,0x30c2,0x20e3,0x5004,0x4025,0x7046,0x6067,
0x83b9,0x9398,0xa3fb,0xb3da,0xc33d,0xd31c,0xe37f,0xf35e,
0x02b1,0x1290,0x22f3,0x32d2,0x4235,0x5214,0x6277,0x7256,
0xb5ea,0xa5cb,0x95a8,0x8589,0xf56e,0xe54f,0xd52c,0xc50d,
0x34e2,0x24c3,0x14a0,0x0481,0x7466,0x6447,0x5424,0x4405,
0xa7db,0xb7fa,0x8799,0x97b8,0xe75f,0xf77e,0xc71d,0xd73c,
0x26d3,0x36f2,0x0691,0x16b0,0x6657,0x7676,0x4615,0x5634,
0xd94c,0xc96d,0xf90e,0xe92f,0x99c8,0x89e9,0xb98a,0xa9ab,
0x5844,0x4865,0x7806,0x6827,0x18c0,0x08e1,0x3882,0x28a3,
0xcb7d,0xdb5c,0xeb3f,0xfb1e,0x8bf9,0x9bd8,0xabbb,0xbb9a,
0x4a75,0x5a54,0x6a37,0x7a16,0x0af1,0x1ad0,0x2ab3,0x3a92,
0xfd2e,0xed0f,0xdd6c,0xcd4d,0xbdaa,0xad8b,0x9de8,0x8dc9,
0x7c26,0x6c07,0x5c64,0x4c45,0x3ca2,0x2c83,0x1ce0,0x0cc1,
0xef1f,0xff3e,0xcf5d,0xdf7c,0xaf9b,0xbfba,0x8fd9,0x9ff8,
0x6e17,0x7e36,0x4e55,0x5e74,0x2e93,0x3eb2,0x0ed1,0x1ef0
}
local function crc_xmodem(bytes)
local crc = 0
for i=1,#bytes do
local b = string.byte(bytes,i,i)
crc = ((crc<<8) & 0xffff) ~ XMODEMCRC16Lookup[(((crc>>8)~b) & 0xff) + 1]
end
return crc
end
local function check_input()
local n_bytes = uart:available():toint()
if n_bytes < 150 then
return
end
local s = read_bytes(n_bytes)
local tim, spd, tmos, tmot, tmcx, curi, volt, pwac, sys, et1, et2 = string.match(s, "TIM:(%d+) SPD:(%d+) TMOS:(%d+) TMOT:(%d+) TMCX:(%x+) CURI:(%d+) VOLT:(%d+) PWAC:(%x+) SYS:(%x+) ET1:(%x+) ET2:(%x+)\n")
if spd and tmos and tmot and tmcx and curi and volt and pwac and sys and et1 and et2 then
-- local telem_data = ESCTelemetryData()
-- Update telemetry data
-- telem_data:voltage(tonumber(volt) / 100) -- Convert to volts
-- telem_data:current(tonumber(curi) / 100) -- Convert to amps
--Display on Quick tab
gcs:send_named_float('speed',spd)
gcs:send_named_float('temp_esc',tmos)
-- Display on Quick tab
-- quick_telem:clear()
-- quick_telem:append_value(1, "Speed", spd)
-- quick_telem:append_value(2, "ESC Temp", tmos)
-- quick_telem:append_value(3, "Motor Temp", tmot)
-- quick_telem:append_value(4, "Motor Current", tonumber(curi) / 100) -- Convert to amps
-- quick_telem:append_value(5, "Voltage", tonumber(volt) / 100) -- Convert to volts
else
-- Handle parsing error
gcs:send_text(MAV_SEVERITY.ERROR, "ESC_TH: parsing error")
end
end
local function update()
check_input()
return update, 100
end
gcs:send_text(MAV_SEVERITY.ALERT, "ESC_HW: loaded")
return update, 100
I don’t have any idea as to why the gcs:send_named_float is not working.