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commander: use actuator_function for ESC reporting

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This commit is contained in:
Beat Küng
2022-08-25 22:02:15 -04:00
committed by Daniel Agar
parent 13c93db11a
commit 1c89b0c9c8
1 changed files with 2 additions and 2 deletions
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src/modules/commander/Commander.cpp
+2 -2
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@@ -4371,9 +4371,9 @@ void Commander::esc_status_check()
events::px4::enums::suggested_action_t action = _arm_state_machine.isArmed() ?
events::px4::enums::suggested_action_t::land :
events::px4::enums::suggested_action_t::none;
// TODO: use esc_status.esc[index].actuator_function as index after SYS_CTRL_ALLOC becomes default
uint8_t motor_index = esc_status.esc[index].actuator_function - actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 + 1;
events::send<uint8_t, events::px4::enums::suggested_action_t>(events::ID("commander_esc_offline"),
events::Log::Critical, "ESC{1} offline. {2}", index + 1, action);
events::Log::Critical, "ESC{1} offline. {2}", motor_index, action);
}
}