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Update ORB topic 'esc_status'

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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
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src/modules/uavcan/actuators/esc.cpp
+6 -8
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@@ -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;
}
}