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drivers start using uORB message print instead of custom

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Daniel Agar
2018-03-23 11:43:19 -04:00
parent 3db17a04fc
commit 5fba1f38b2
33 changed files with 79 additions and 426 deletions
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src/modules/uavcan/uavcan_main.cpp
+4 -21
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@@ -1214,7 +1214,7 @@ UavcanNode::print_info()
printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
if (_outputs.noutputs != 0) {
printf("ESC output: ");
PX4_INFO("ESC output: ");
for (uint8_t i = 0; i < _outputs.noutputs; i++) {
printf("%d ", (int)(_outputs.output[i] * 1000));
@@ -1224,28 +1224,11 @@ UavcanNode::print_info()
// ESC status
int esc_sub = orb_subscribe(ORB_ID(esc_status));
struct esc_status_s esc;
memset(&esc, 0, sizeof(esc));
esc_status_s esc = {};
orb_copy(ORB_ID(esc_status), esc_sub, &esc);
printf("ESC Status:\n");
printf("Addr\tV\tA\tTemp\tSetpt\tRPM\tErr\n");
for (uint8_t i = 0; i < _outputs.noutputs; i++) {
const float temp_celsius = (esc.esc[i].esc_temperature > 0) ?
(esc.esc[i].esc_temperature - 273.15F) : 0.0F;
printf("%d\t", esc.esc[i].esc_address);
printf("%3.2f\t", (double)esc.esc[i].esc_voltage);
printf("%3.2f\t", (double)esc.esc[i].esc_current);
printf("%3.2f\t", (double)temp_celsius);
printf("%3.2f\t", (double)esc.esc[i].esc_setpoint);
printf("%d\t", esc.esc[i].esc_rpm);
printf("%d", esc.esc[i].esc_errorcount);
printf("\n");
}
orb_unsubscribe(esc_sub);
print_message(esc);
}
// Sensor bridges