esc_report: add actuator_function

src/drivers/uavcan/actuators/esc.hpp

@@ -78,6 +78,8 @@ public:
 
 	static int max_output_value() { return uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max(); }
 
+	esc_status_s &esc_status() { return _esc_status; }
+
 private:
 	/**
 	 * ESC status message reception will be reported via this callback.

src/drivers/uavcan/uavcan_main.cpp

@@ -1003,6 +1003,10 @@ void UavcanMixingInterfaceESC::mixerChanged()
 	if (_mixing_output.useDynamicMixing()) {
 		for (unsigned i = 0; i < MAX_ACTUATORS; ++i) {
 			rotor_count += _mixing_output.isFunctionSet(i);
+
+			if (i < esc_status_s::CONNECTED_ESC_MAX) {
+				_esc_controller.esc_status().esc[i].actuator_function = (uint8_t)_mixing_output.outputFunction(i);
+			}
 		}
 
 	} else {