AP_Periph Add Actuator Telemetry Support

[Huibean]

add AP_Periph Actuator telemary support

Test and development hardware: VM-L431-SRV-Hub-4CHP

• VM-L431-SRV-Hub-4CHP has 4 adc channel for current sampling on each Servo port power supply
• this PR will add support to read adc value and covert it currect, compare with preset max currect and return power percentage to Dronecan uavcan.equipment.actuator.Status(1011), possible to detect a block
• new params

OUTx_TELEM_RATE 25     #telem rate in Hz, 0 to dsiable
OUTx_CURR_PIN 9        #current sample pin
OUTx_AMP_OFFSET 0      #current offset
OUTx_AMP_PERVLT 10     #current amp per voltage, ie gain 100V/V, Resistance 1mΩ
OUTx_CURR_MAX 2.5      #max current, to calculate the result of power usage percentage

[IamPete1]

This should go via the existing servo telem lib. I have a branch that adds support for that to periph.

Edit: I have opened a draft PR. #31577

[tridge]

I would prefer that this be in Tools/AP_Periph/actuator_telem.cpp, including a parameter table, with the telem rate, offsets and scaling as single parameters, the only per channel parameters would be the current pin
So the idea is to minimise the impact on the rest of the code, and isolate the changes as much as possible in Tools/AP_Periph/actuator_telem.cpp

[tridge]

@Huibean have a look at Tools/AP_Periph/batt_balance.cpp as an example for a similar task

[Huibean]

2025.12.05 update
move to Tools/AP_Periph/actuator_telem.cpp
new param format

ACT_TELEM_RATE 10
ACT_NUM_CHANS 4
ACT_CURR_PIN1 9
ACT_AMP_OFFSET 0
ACT_AMP_PERVLT 10
ACT_CURR_MAX 2.5