AP_Scripting: add bindings for servo telemetry

libraries/AP_Scripting/docs/docs.lua

@@ -4003,7 +4003,6 @@ function networking:get_netmask_active() end
 function networking:get_ip_active() end
 
 -- visual odometry object
---@class visual_odom
 visual_odom = {}
 
 -- visual odometry health
@@ -4013,3 +4012,58 @@ function visual_odom:healthy() end
 -- visual odometry quality as a percentage from 1 to 100 or 0 if unknown
 ---@return integer
 function visual_odom:quality() end
+
+
+-- servo telemetry class
+---@class servo_telem
+servo_telem = {}
+
+-- Get the type spesfic status flags for the given servo number
+---@param servo_index integer -- 0 indexed servo number
+---@return integer|nil -- status flags or nil if not available
+function servo_telem:get_status_flags(servo_index) end
+
+-- Get the pcb temprature for the given servo number
+---@param servo_index integer -- 0 indexed servo number
+---@return number|nil -- pcb temprature in degrees C or nil if not available
+function servo_telem:get_pcb_temperature(servo_index) end
+
+-- Get motor temprature for the given servo number
+---@param servo_index integer
+---@return number|nil -- motor temprature in degrees C or nil if not available
+function servo_telem:get_motor_temperature(servo_index) end
+
+-- Get the duty cycle for the given servo number
+---@param servo_index integer -- 0 indexed servo number
+---@return integer|nil -- duty cycle 0% to 100% or nil if not available
+function servo_telem:get_duty_cycle(servo_index) end
+
+-- Get the current for the given servo number
+---@param servo_index integer -- 0 indexed servo number
+---@return number|nil -- current in amps or nil if not available
+function servo_telem:get_current(servo_index) end
+
+-- Get the voltage for the given servo number
+---@param servo_index integer -- 0 indexed servo number
+---@return number|nil -- voltage in volts or nil if not available
+function servo_telem:get_voltage(servo_index) end
+
+-- Get the speed for the given servo number
+---@param servo_index integer -- 0 indexed servo number
+---@return number|nil -- speed in degrees per second or nil if not available
+function servo_telem:get_speed(servo_index) end
+
+-- Get the force for the given servo number
+---@param servo_index integer -- 0 indexed servo number
+---@return number|nil -- force in newton meters or nil if not available
+function servo_telem:get_force(servo_index) end
+
+-- Get the measured position for the given servo number
+---@param servo_index integer -- 0 indexed servo number
+---@return number|nil -- measured position in degrees or nil if not available
+function servo_telem:get_measured_position(servo_index) end
+
+-- Get the commanded position for the given servo number
+---@param servo_index integer -- 0 indexed servo number
+---@return number|nil -- comanded position in degrees or nil if not available
+function servo_telem:get_commanded_position(servo_index) end

libraries/AP_Scripting/generator/description/bindings.desc

@@ -1039,3 +1039,19 @@ include AP_TemperatureSensor/AP_TemperatureSensor.h
 singleton AP_TemperatureSensor depends AP_TEMPERATURE_SENSOR_ENABLED
 singleton AP_TemperatureSensor rename temperature_sensor
 singleton AP_TemperatureSensor method get_temperature boolean float'Null uint8_t'skip_check
+
+
+include AP_Servo_Telem/AP_Servo_Telem.h depends AP_SERVO_TELEM_ENABLED
+include AP_Servo_Telem/AP_Servo_Telem_config.h
+singleton AP_Servo_Telem depends AP_SERVO_TELEM_ENABLED
+singleton AP_Servo_Telem rename servo_telem
+singleton AP_Servo_Telem method get_commanded_position boolean uint8_t'skip_check float'Null
+singleton AP_Servo_Telem method get_measured_position boolean uint8_t'skip_check float'Null
+singleton AP_Servo_Telem method get_force boolean uint8_t'skip_check float'Null
+singleton AP_Servo_Telem method get_speed boolean uint8_t'skip_check float'Null
+singleton AP_Servo_Telem method get_voltage boolean uint8_t'skip_check float'Null
+singleton AP_Servo_Telem method get_current boolean uint8_t'skip_check float'Null
+singleton AP_Servo_Telem method get_duty_cycle boolean uint8_t'skip_check uint8_t'Null
+singleton AP_Servo_Telem method get_motor_temperature boolean uint8_t'skip_check float'Null
+singleton AP_Servo_Telem method get_pcb_temperature boolean uint8_t'skip_check float'Null
+singleton AP_Servo_Telem method get_status_flags boolean uint8_t'skip_check uint8_t'Null

libraries/AP_Servo_Telem/AP_Servo_Telem.cpp

@@ -100,6 +100,131 @@ void AP_Servo_Telem::update_telem_data(const uint8_t servo_index, const Telemetr
     telemdata.last_update_ms = AP_HAL::millis();
 }
 
+// Return the commanded position servo position in degrees if available
+bool AP_Servo_Telem::get_commanded_position(const uint8_t servo_index, float &command_position) const
+{
+    if (!data_available(servo_index, TelemetryData::Types::COMMANDED_POSITION)) {
+        return false;
+    }
+
+    command_position = _telem_data[servo_index].command_position;
+    return true;
+}
+
+// Return the measured Servo position in degrees if available
+bool AP_Servo_Telem::get_measured_position(const uint8_t servo_index, float &measured_position) const
+{
+    if (!data_available(servo_index, TelemetryData::Types::MEASURED_POSITION)) {
+        return false;
+    }
+
+    measured_position = _telem_data[servo_index].measured_position;
+    return true;
+}
+
+// Return the force in newton meters if available
+bool AP_Servo_Telem::get_force(const uint8_t servo_index, float &force) const
+{
+    if (!data_available(servo_index, TelemetryData::Types::FORCE)) {
+        return false;
+    }
+
+    force = _telem_data[servo_index].force;
+    return true;
+}
+
+// Return the speed in degrees per second if available
+bool AP_Servo_Telem::get_speed(const uint8_t servo_index, float &speed) const
+{
+    if (!data_available(servo_index, TelemetryData::Types::SPEED)) {
+        return false;
+    }
+
+    speed = _telem_data[servo_index].speed;
+    return true;
+}
+
+// Return the voltage in volts per second if available
+bool AP_Servo_Telem::get_voltage(const uint8_t servo_index, float &voltage) const
+{
+    if (!data_available(servo_index, TelemetryData::Types::VOLTAGE)) {
+        return false;
+    }
+
+    voltage = _telem_data[servo_index].voltage;
+    return true;
+}
+
+// Return the current in amps per second if available
+bool AP_Servo_Telem::get_current(const uint8_t servo_index, float &current) const
+{
+    if (!data_available(servo_index, TelemetryData::Types::CURRENT)) {
+        return false;
+    }
+
+    current = _telem_data[servo_index].current;
+    return true;
+}
+
+
+// Return the duty cycle 0% to 100% if available
+bool AP_Servo_Telem::get_duty_cycle(const uint8_t servo_index, uint8_t &duty_cycle) const
+{
+    if (!data_available(servo_index, TelemetryData::Types::DUTY_CYCLE)) {
+        return false;
+    }
+
+    duty_cycle = _telem_data[servo_index].duty_cycle;
+    return true;
+}
+
+// Return the motor temperature in degrees C if available
+bool AP_Servo_Telem::get_motor_temperature(const uint8_t servo_index, float &motor_temperature) const
+{
+    if (!data_available(servo_index, TelemetryData::Types::MOTOR_TEMP)) {
+        return false;
+    }
+
+    motor_temperature = _telem_data[servo_index].motor_temperature_cdeg * 0.01;
+    return true;
+}
+
+// Return the pcb temperature in degrees C if available
+bool AP_Servo_Telem::get_pcb_temperature(const uint8_t servo_index, float &pcb_temperature) const
+{
+    if (!data_available(servo_index, TelemetryData::Types::PCB_TEMP)) {
+        return false;
+    }
+
+    pcb_temperature = _telem_data[servo_index].pcb_temperature_cdeg * 0.01;
+    return true;
+}
+
+// Return type specific status flags if available
+bool AP_Servo_Telem::get_status_flags(const uint8_t servo_index, uint8_t &status_flags) const
+{
+    if (!data_available(servo_index, TelemetryData::Types::STATUS)) {
+        return false;
+    }
+
+    status_flags = _telem_data[servo_index].status_flags;
+    return true;
+}
+
+// Helper to check index and if data is available
+bool AP_Servo_Telem::data_available(const uint8_t servo_index, const TelemetryData::Types type) const
+{
+    if (servo_index >= SERVO_TELEM_MAX_SERVOS) {
+        return false;
+    }
+
+    if (!_telem_data[servo_index].valid(type)) {
+        return false;
+    }
+
+    return true;
+}
+
 void AP_Servo_Telem::update()
 {
 #if HAL_LOGGING_ENABLED

libraries/AP_Servo_Telem/AP_Servo_Telem.h

@@ -70,8 +70,43 @@ class AP_Servo_Telem {
     // callback to update the data in the frontend, should be called by the driver when new data is available
     void update_telem_data(const uint8_t servo_index, const TelemetryData& new_data);
 
+    // Getters for telem values
+
+    // Return the commanded position servo position in degrees if available
+    bool get_commanded_position(const uint8_t servo_index, float &command_position) const;
+
+    // Return the measured Servo position in degrees if available
+    bool get_measured_position(const uint8_t servo_index, float &measured_position) const;
+
+    // Return the force in newton meters if available
+    bool get_force(const uint8_t servo_index, float &force) const;
+
+    // Return the speed in degrees per second if available
+    bool get_speed(const uint8_t servo_index, float &speed) const;
+
+    // Return the voltage in volts per second if available
+    bool get_voltage(const uint8_t servo_index, float &voltage) const;
+
+    // Return the current in amps per second if available
+    bool get_current(const uint8_t servo_index, float &current) const;
+
+    // Return the duty cycle 0% to 100% if available
+    bool get_duty_cycle(const uint8_t servo_index, uint8_t &duty_cycle) const;
+
+    // Return the motor temperature in degrees C if available
+    bool get_motor_temperature(const uint8_t servo_index, float &motor_temperature) const;
+
+    // Return the pcb temperature in degrees C if available
+    bool get_pcb_temperature(const uint8_t servo_index, float &pcb_temperature) const;
+
+    // Return type specific status flags if available
+    bool get_status_flags(const uint8_t servo_index, uint8_t &status_flags) const;
+
 private:
 
+    // Helper to check index and if data is available
+    bool data_available(const uint8_t servo_index, const TelemetryData::Types type) const;
+
     // Log telem of each servo
     void write_log();