fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 03:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update ORB topic 'esc_status'

Browse Source
This commit is contained in:
Pavel Kirienko
2014-10-13 17:01:34 +04:00
parent e5a77a638a
commit 1bf4270e3e
5 changed files with 33 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2_messages.h
+7 -7
View File
@@ -241,15 +241,15 @@ struct log_GPSP_s {
#define LOG_ESC_MSG 18
struct log_ESC_s {
uint16_t counter;
uint8_t esc_count;
uint8_t esc_connectiontype;
uint8_t esc_num;
uint8_t esc_count;
uint8_t esc_connectiontype;
uint8_t esc_num;
uint16_t esc_address;
uint16_t esc_version;
uint16_t esc_voltage;
uint16_t esc_current;
float esc_voltage;
float esc_current;
uint16_t esc_rpm;
uint16_t esc_temperature;
float esc_temperature;
float esc_setpoint;
uint16_t esc_setpoint_raw;
};
@@ -452,7 +452,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(ESC, "HBBBHHffHffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
src/modules/uORB/topics/esc_status.h
+10 -9
View File
@@ -78,6 +78,7 @@ enum ESC_CONNECTION_TYPE {
/**
* Electronic speed controller status.
* Unsupported float fields should be assigned NaN.
*/
struct esc_status_s {
/* use of a counter and timestamp recommended (but not necessary) */
@@ -89,17 +90,17 @@ struct esc_status_s {
enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */
struct {
uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */
enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */
uint16_t esc_version; /**< Version of current ESC - if supported */
uint16_t esc_voltage; /**< Voltage measured from current ESC - if supported */
uint16_t esc_current; /**< Current measured from current ESC (100mA steps) - if supported */
uint16_t esc_rpm; /**< RPM measured from current ESC - if supported */
uint16_t esc_temperature; /**< Temperature measured from current ESC - if supported */
float esc_setpoint; /**< setpoint of current ESC */
uint32_t esc_errorcount; /**< Number of reported errors by ESC - if supported */
float esc_voltage; /**< Voltage measured from current ESC [V] - if supported */
float esc_current; /**< Current measured from current ESC [A] - if supported */
float esc_temperature; /**< Temperature measured from current ESC [degC] - if supported */
float esc_setpoint; /**< setpoint of current ESC */
uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */
uint16_t esc_state; /**< State of ESC - depend on Vendor */
uint16_t esc_errorcount; /**< Number of reported errors by ESC - if supported */
uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */
uint16_t esc_version; /**< Version of current ESC - if supported */
uint16_t esc_rpm; /**< RPM measured from current ESC [RPM] - if supported */
uint16_t esc_state; /**< State of ESC - depend on Vendor */
} esc[CONNECTED_ESC_MAX];
};
src/modules/uavcan/actuators/esc.cpp
+6 -8
View File
@@ -134,14 +134,12 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<
ref.esc_address = msg.getSrcNodeID().get();
// >0 checks allow to weed out NaNs and negative values that aren't supported.
ref.esc_voltage = (msg.voltage > 0) ? msg.voltage * 10.0F : 0;
ref.esc_current = (msg.current > 0) ? msg.current * 10.0F : 0;
ref.esc_temperature = (msg.temperature > 0) ? msg.temperature * 10.0F : 0;
ref.esc_setpoint = msg.power_rating_pct;
ref.esc_rpm = abs(msg.rpm);
ref.esc_errorcount = msg.error_count;
ref.esc_voltage = msg.voltage;
ref.esc_current = msg.current;
ref.esc_temperature = msg.temperature;
ref.esc_setpoint = msg.power_rating_pct;
ref.esc_rpm = abs(msg.rpm);
ref.esc_errorcount = msg.error_count;
}
}