From 4cca86b5d6637311378d7d7d61171b577e2811c6 Mon Sep 17 00:00:00 2001 From: Jacob Crabill Date: Wed, 24 Feb 2021 07:27:06 -0800 Subject: [PATCH] uavcan_v1: Apply feedback from Pavel Kirienko Co-authored-by: Pavel Kirienko --- src/drivers/uavcan_v1/ParamManager.cpp | 8 ++++---- src/drivers/uavcan_v1/Publishers/Gnss.hpp | 2 +- src/drivers/uavcan_v1/Publishers/Publisher.hpp | 4 ++-- src/drivers/uavcan_v1/Subscribers/Battery.hpp | 4 ++-- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/drivers/uavcan_v1/ParamManager.cpp b/src/drivers/uavcan_v1/ParamManager.cpp index 7f37414aeb..9c5e34c951 100644 --- a/src/drivers/uavcan_v1/ParamManager.cpp +++ b/src/drivers/uavcan_v1/ParamManager.cpp @@ -64,8 +64,8 @@ bool UavcanParamManager::GetParamByName(const char *param_name, uavcan_register_ case PARAM_TYPE_FLOAT: { float out_val {}; param_get(param_handle, &out_val); - value.natural32.value.elements[0] = out_val; - uavcan_register_Value_1_0_select_natural32_(&value); + value.real32.value.elements[0] = out_val; + uavcan_register_Value_1_0_select_real32_(&value); break; } } @@ -100,8 +100,8 @@ bool UavcanParamManager::GetParamByName(const uavcan_register_Name_1_0 &name, ua case PARAM_TYPE_FLOAT: { float out_val {}; param_set(param_handle, &out_val); - value.natural32.value.elements[0] = out_val; - uavcan_register_Value_1_0_select_natural32_(&value); + value.real32.value.elements[0] = out_val; + uavcan_register_Value_1_0_select_real32_(&value); break; } } diff --git a/src/drivers/uavcan_v1/Publishers/Gnss.hpp b/src/drivers/uavcan_v1/Publishers/Gnss.hpp index 9cac6502fd..1a53f5a452 100644 --- a/src/drivers/uavcan_v1/Publishers/Gnss.hpp +++ b/src/drivers/uavcan_v1/Publishers/Gnss.hpp @@ -96,7 +96,7 @@ public: .position = NAN, .horizontal = gps.hdop, .vertical = gps.vdop, - .time = (float)gps.time_utc_usec / 1.e6f, /// ? + .time = NAN, .northing = NAN, .easting = NAN, }; diff --git a/src/drivers/uavcan_v1/Publishers/Publisher.hpp b/src/drivers/uavcan_v1/Publishers/Publisher.hpp index 05245fbf35..f31306c521 100644 --- a/src/drivers/uavcan_v1/Publishers/Publisher.hpp +++ b/src/drivers/uavcan_v1/Publishers/Publisher.hpp @@ -65,8 +65,8 @@ public: void updateParam() { - char uavcan_param[90]; - sprintf(uavcan_param, "uavcan.pub.%s.%d.id", _subject_name, _instance); + char uavcan_param[256]; + snprintf(uavcan_param, sizeof(uavcan_param), "uavcan.pub.%s.%d.id", _subject_name, _instance); // Set _port_id from _uavcan_param uavcan_register_Value_1_0 value; diff --git a/src/drivers/uavcan_v1/Subscribers/Battery.hpp b/src/drivers/uavcan_v1/Subscribers/Battery.hpp index f6c8923d7f..3736fef275 100644 --- a/src/drivers/uavcan_v1/Subscribers/Battery.hpp +++ b/src/drivers/uavcan_v1/Subscribers/Battery.hpp @@ -69,8 +69,8 @@ public: PX4_INFO("BmsCallback"); reg_drone_service_battery_Status_0_1 bat {}; - size_t bat_size_in_bits = receive.payload_size; - reg_drone_service_battery_Status_0_1_deserialize_(&bat, (const uint8_t *)receive.payload, &bat_size_in_bits); + size_t bat_size_in_bytes = receive.payload_size; + reg_drone_service_battery_Status_0_1_deserialize_(&bat, (const uint8_t *)receive.payload, &bat_size_in_bytes); uavcan_si_unit_voltage_Scalar_1_0 V_Min = bat.cell_voltage_min_max[0]; uavcan_si_unit_voltage_Scalar_1_0 V_Max = bat.cell_voltage_min_max[1];