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Add ability to get motor telemetry data #27

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Add ability to get motor telemetry data #27

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19 changes: 19 additions & 0 deletions yamspy/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -145,6 +145,15 @@ def __init__(self, device, baudrate=115200, trials=1,

self.MOTOR_DATA = [0]*8

self.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
self.RC = {
Expand Down Expand Up @@ -1073,6 +1082,16 @@ def process_MSP_MOTOR(self, data):
motorCount = int(len(data) / 2)
self.MOTOR_DATA = [self.readbytes(data, size=16, unsigned=True) for i in range(motorCount)]

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)

def process_MSP_RC(self, data):
n_channels = int(len(data) / 2)
self.RC['active_channels'] = n_channels
Expand Down