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add MSP motor telemetry support #2

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merged 1 commit into from Apr 8, 2024
Merged

add MSP motor telemetry support #2

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10 changes: 10 additions & 0 deletions unavlib/__init__.py
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Expand Up @@ -1531,6 +1531,16 @@ def process_MSP_BLACKBOX_CONFIG(self, data):
def process_MSP_SET_BLACKBOX_CONFIG(self, data):
logging.info("Blackbox config saved")

def process_MSP_MOTOR_TELEMETRY(self, data):
motorCount = self.readbytes(data, size=8, unsigned=True)
for i in range(motorCount):
self.MOTOR_TELEMETRY_DATA['rpm'][i] = self.readbytes(data, size=32, unsigned=True)
self.MOTOR_TELEMETRY_DATA['invalidPercent'][i] = self.readbytes(data, size=16, unsigned=True)
self.MOTOR_TELEMETRY_DATA['temperature'][i] = self.readbytes(data, size=8, unsigned=True)
self.MOTOR_TELEMETRY_DATA['voltage'][i] = self.readbytes(data, size=16, unsigned=True)
self.MOTOR_TELEMETRY_DATA['current'][i] = self.readbytes(data, size=16, unsigned=True)
self.MOTOR_TELEMETRY_DATA['consumption'][i] = self.readbytes(data, size=16, unsigned=True)

# TODO: This changed and it will need to check the BF version to decode things correctly
# def process_MSP_TRANSPONDER_CONFIG(self, data):
# bytesRemaining = len(data)
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9 changes: 9 additions & 0 deletions unavlib/msp_vars.py
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Expand Up @@ -47,6 +47,15 @@

MOTOR_DATA = [0]*8

MOTOR_TELEMETRY_DATA = {
'rpm': [0]*8,
'invalidPercent': [0]*8,
'temperature': [0]*8,
'voltage': [0]*8,
'current': [0]*8,
'consumption': [0]*8,
}

# defaults
# roll, pitch, yaw, throttle, aux 1, ... aux n
RC = {
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