fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-01 06:40:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

esc_status: trim the message and remove unused fields

Browse Source
This commit is contained in:
Beat Küng
2019-09-02 18:20:01 +02:00
parent 69c10dcaac
commit 4c4ce09005
5 changed files with 6 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/mkblctrl/mkblctrl.cpp
+2 -4
View File
@@ -614,8 +614,6 @@ MK::task_main()
for (unsigned int i = 0; i < _num_outputs; i++) {
esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;
esc.esc[i].esc_vendor = esc_status_s::ESC_VENDOR_MIKROKOPTER;
esc.esc[i].esc_version = (uint16_t) Motor[i].Version;
esc.esc[i].esc_voltage = 0.0F;
esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F;
esc.esc[i].esc_rpm = (uint16_t) 0;
@@ -630,8 +628,8 @@ MK::task_main()
esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint;
}
esc.esc[i].esc_temperature = static_cast<float>(Motor[i].Temperature);
esc.esc[i].esc_state = (uint16_t) Motor[i].State;
esc.esc[i].esc_temperature = static_cast<uint8_t>(Motor[i].Temperature);
esc.esc[i].esc_state = (uint8_t) Motor[i].State;
esc.esc[i].esc_errorcount = (uint16_t) 0;
// if motortest is requested - do it... (deprecated in future)
src/drivers/tap_esc/tap_esc.cpp
-1
View File
@@ -563,7 +563,6 @@ void TAP_ESC::cycle()
if (feed_back_data.channelID < esc_status_s::CONNECTED_ESC_MAX) {
_esc_feedback.esc[feed_back_data.channelID].esc_rpm = feed_back_data.speed;
_esc_feedback.esc[feed_back_data.channelID].esc_state = feed_back_data.ESCStatus;
_esc_feedback.esc[feed_back_data.channelID].esc_vendor = esc_status_s::ESC_VENDOR_TAP;
_esc_feedback.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_SERIAL;
_esc_feedback.counter++;
_esc_feedback.esc_count = num_outputs;
src/drivers/telemetry/hott/messages.cpp
+2 -3
View File
@@ -113,9 +113,8 @@ publish_gam_message(const uint8_t *buffer)
esc.esc_count = 1;
esc.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_PPM;
esc.esc[0].esc_vendor = esc_status_s::ESC_VENDOR_GRAUPNER_HOTT;
esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
esc.esc[0].esc_temperature = static_cast<float>(msg.temperature1) - 20.0F;
esc.esc[0].esc_temperature = msg.temperature1 - 20;
esc.esc[0].esc_voltage = static_cast<float>((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)) * 0.1F;
esc.esc[0].esc_current = static_cast<float>((msg.current_H << 8) | (msg.current_L & 0xff)) * 0.1F;
@@ -186,7 +185,7 @@ build_gam_response(uint8_t *buffer, size_t *size)
msg.gam_sensor_id = GAM_SENSOR_ID;
msg.sensor_text_id = GAM_SENSOR_TEXT_ID;
msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20.0F);
msg.temperature1 = esc.esc[0].esc_temperature + 20;
msg.temperature2 = 20; // 0 deg. C.
const uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage * 10.0F);