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Simplified esc_status healthiness logic.

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2019-08-09 09:41:17 +02:00
committed by Beat Küng
parent 8a2d05be4f
commit 09d79b221f
4 changed files with 21 additions and 28 deletions
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src/drivers/uavcan/actuators/esc.cpp
+4 -5
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@@ -233,14 +233,13 @@ void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent &)
uint8_t UavcanEscController::check_escs_status()
{
int esc_status_flags = 255;
int esc_status_flags = 0;
for (int index = 0; index < esc_status_s::CONNECTED_ESC_MAX; index++) {
if (_esc_status.esc[index].timestamp == 0) {
esc_status_flags &= ~(1 << index);
} else if (hrt_elapsed_time(&_esc_status.esc[index].timestamp) > 800000.0f) {
esc_status_flags &= ~(1 << index);
if (_esc_status.esc[index].timestamp > 0 && hrt_elapsed_time(&_esc_status.esc[index].timestamp) < 800000.0f) {
esc_status_flags |= (1 << index);
}
}
src/drivers/uavcan/uavcan_main.cpp
+3 -3
View File
@@ -1125,9 +1125,9 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
_mixers->groups_required(_groups_required);
PX4_INFO("Groups required %d", _groups_required);
_rotor_count = _mixers->get_multirotor_count();
_esc_controller.set_rotor_count(_rotor_count);
PX4_INFO("Number of rotors %d", _rotor_count);
int rotor_count = _mixers->get_multirotor_count();
_esc_controller.set_rotor_count(rotor_count);
PX4_INFO("Number of rotors %d", rotor_count);
}
}
}
src/drivers/uavcan/uavcan_main.hpp
-2
View File
@@ -216,8 +216,6 @@ private:
// index into _poll_fds for each _control_subs handle
uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
uint8_t _rotor_count = 0;
void handle_time_sync(const uavcan::TimerEvent &);
typedef uavcan::MethodBinder<UavcanNode *, void (UavcanNode::*)(const uavcan::TimerEvent &)> TimerCallback;