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AP_TemperatureSensor: Support Servo_Telem sources #31616

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Merged
tridge merged 1 commit into from
Dec 2, 2025
Merged

AP_TemperatureSensor: Support Servo_Telem sources #31616

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27 changes: 27 additions & 0 deletions libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@

#include <AP_Logger/AP_Logger.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_Servo_Telem/AP_Servo_Telem.h>

/*
All backends use the same parameter table and set of indices. Therefore, two
Expand Down Expand Up @@ -85,6 +86,10 @@ void AP_TemperatureSensor_Backend::update_external_libraries(const float tempera
#if HAL_WITH_ESC_TELEM
AP_ESC_Telem_Backend::TelemetryData t;
#endif
#if AP_SERVO_TELEM_ENABLED
AP_Servo_Telem *servo_telem;
AP_Servo_Telem::TelemetryData servo_telem_data;
#endif

switch ((AP_TemperatureSensor_Params::Source)_params.source.get()) {
#if HAL_WITH_ESC_TELEM
Expand All @@ -111,6 +116,28 @@ void AP_TemperatureSensor_Backend::update_external_libraries(const float tempera
// Label only, used by AP_Periph
break;

#if AP_SERVO_TELEM_ENABLED
case AP_TemperatureSensor_Params::Source::Servo_Motor:
servo_telem = AP_Servo_Telem::get_singleton();
if (servo_telem == nullptr) {
break;
}
servo_telem_data.motor_temperature_cdeg = temperature * 100;
servo_telem_data.present_types = AP_Servo_Telem::TelemetryData::Types::MOTOR_TEMP;
servo_telem->update_telem_data(_params.source_id-1, servo_telem_data);
break;

case AP_TemperatureSensor_Params::Source::Servo_PCB:
servo_telem = AP_Servo_Telem::get_singleton();
if (servo_telem == nullptr) {
break;
}
servo_telem_data.pcb_temperature_cdeg = temperature * 100;
servo_telem_data.present_types = AP_Servo_Telem::TelemetryData::Types::PCB_TEMP;
servo_telem->update_telem_data(_params.source_id-1, servo_telem_data);
break;
#endif // AP_SERVO_TELEM_ENABLED

case AP_TemperatureSensor_Params::Source::None:
case AP_TemperatureSensor_Params::Source::Pitot_tube:
default:
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp
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Expand Up @@ -58,7 +58,7 @@ const AP_Param::GroupInfo AP_TemperatureSensor_Params::var_info[] = {
// @Param: SRC
// @DisplayName: Sensor Source
// @Description: Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.
// @Values: 0: None, 1:ESC, 2:Motor, 3:Battery Index, 4:Battery ID/SerialNumber, 5:CAN based Pitot tube, 6:DroneCAN-out on AP_Periph
// @Values: 0: None, 1:ESC, 2:Motor, 3:Battery Index, 4:Battery ID/SerialNumber, 5:CAN based Pitot tube, 6:DroneCAN-out on AP_Periph, 7:Servo motor, 8:Servo PCB
// @User: Standard
AP_GROUPINFO("SRC", 4, AP_TemperatureSensor_Params, source, (float)Source::None),

Expand Down
2 changes: 2 additions & 0 deletions libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h
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Expand Up @@ -48,6 +48,8 @@ class AP_TemperatureSensor_Params {
Battery_ID_SerialNumber = 4,
Pitot_tube = 5,
DroneCAN = 6,
Servo_Motor = 7,
Servo_PCB = 8,
};

AP_Enum<Type> type; // 0=disabled, others see frontend enum TYPE
Expand Down
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