AP_Periph: add support for sending servo telemety

[IamPete1]

Adds support for sending servo telem on periph, this allows remote attach of servos and telem to be relayed to the vehicle.

[IamPete1]

Rebased and tested with #31504

[IamPete1]

@Huibean I have moved the actuator telem to use the servo telem lib.

[tridge]

pending testing from @Huibean

[Huibean]

I have test in VM-L431-SRV-Hub-4CHP, it has issue showing the correct actuator_id, all 0

[tridge]

should this be i or index?

[Huibean]

I think it's index + 1, with this change it can send correct actuator_id

[IamPete1]

Changed to index.

[IamPete1]

@Huibean Thanks for testing! Should be fixed now. The key thing with the indexing is to see how it turns up in the log on the main flight controller.

[Huibean]

@Huibean Thanks for testing! Should be fixed now. The key thing with the indexing is to see how it turns up in the log on the main flight controller.

I tested the update, actuator_id 4 is missing

[IamPete1]

I tested the update, actuator_id 4 is missing

I would have expected it to report 0,1,2,3 for 4 in total.

[Huibean]

I tested the update, actuator_id 4 is missing

I would have expected it to report 0,1,2,3 for 4 in total.

that's wired, https://ardupilot.org/dev/docs/AP_Periph-Parameters.html#out1-function, the input start from 1, OUT1_FUNCTION 51 is actuator_id 1, sending actuator_id 0 command to AP_Periph will not able get response, aslo Ardupilot side start from 1(different from esc command)

[IamPete1]

that's wired, https://ardupilot.org/dev/docs/AP_Periph-Parameters.html#out1-function, the input start from 1, OUT1_FUNCTION 51 is actuator_id 1, sending actuator_id 0 command to AP_Periph will not able get response, aslo Ardupilot side start from 1(different from esc command)

Actually our right, because of the +1 on actuator_telem line 170. So it should be 1,2,3,4. Your only seeing 1,2,3? I don't see any change in how the iteration over outputs is done.

[Huibean]

that's wired, https://ardupilot.org/dev/docs/AP_Periph-Parameters.html#out1-function, the input start from 1, OUT1_FUNCTION 51 is actuator_id 1, sending actuator_id 0 command to AP_Periph will not able get response, aslo Ardupilot side start from 1(different from esc command)

Actually our right, because of the +1 on actuator_telem line 170. So it should be 1,2,3,4. Your only seeing 1,2,3? I don't see any change in how the iteration over outputs is done.

only 1,2,3 is seen, fixed power output on channel 1, so it does not mixmatch

[Huibean]

by the way, there is build error in last change, I fixed it for continue testing

[862/883] Compiling Tools/AP_Periph/Servo_telem.cpp
[873/883] Compiling Tools/AP_Periph/actuator_telem.cpp
../../Tools/AP_Periph/actuator_telem.cpp: In member function 'void ActuatorTelem::send_telemetry(uint8_t, uint8_t)':
../../Tools/AP_Periph/actuator_telem.cpp:143:72: error: narrowing conversion of '(((int)AP_Servo_Telem::TelemetryData::CURRENT) | (((bool)have_duty_cycle) ? ((int)AP_Servo_Telem::TelemetryData::DUTY_CYCLE) : 0))' from 'int' to 'uint16_t' {aka 'short unsigned int'} [-Werror=narrowing]
  143 |         .present_types = AP_Servo_Telem::TelemetryData::Types::CURRENT |
      |                          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  144 |                          (have_duty_cycle ? AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE : 0)
      |                          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors

[IamPete1]

by the way, there is build error in last change, I fixed it for continue testing

I have fixed this and tested with GDB in SITL, I get all four messages being sent.

I'm not sure what is going on.

[IamPete1]

rebased.

[IamPete1]

Rebased and fixed indexing issue. This is a breaking change to DroneCAN servo telem numbering, this will affect logging and scripting.

[Huibean]

works now, LGTM

fixed