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uavcan: increase ESC max rate 200->400 Hz

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- this should run synchronized with the rate controller and can be
limited by IMU_GYRO_RATEMAX
This commit is contained in:
Daniel Agar
2022-03-01 11:44:49 -05:00
parent 601c588294
commit 5affa693f2
1 changed files with 1 additions and 1 deletions
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src/drivers/uavcan/actuators/esc.hpp
+1 -1
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@@ -58,7 +58,7 @@ class UavcanEscController
{ {
public: public:
static constexpr int MAX_ACTUATORS = esc_status_s::CONNECTED_ESC_MAX; static constexpr int MAX_ACTUATORS = esc_status_s::CONNECTED_ESC_MAX;
static constexpr unsigned MAX_RATE_HZ = 200; ///< XXX make this configurable static constexpr unsigned MAX_RATE_HZ = 400;
static constexpr uint16_t DISARMED_OUTPUT_VALUE = UINT16_MAX; static constexpr uint16_t DISARMED_OUTPUT_VALUE = UINT16_MAX;
static_assert(uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize >= MAX_ACTUATORS, "Too many actuators"); static_assert(uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize >= MAX_ACTUATORS, "Too many actuators");