From 7e055656b0e7c20705f02c576559b1783992633b Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Fri, 23 May 2025 15:02:45 +0200
Subject: [PATCH] uavcan esc: translate temperature field from Kelvin to
 Celsius

---
 src/drivers/uavcan/actuators/esc.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/drivers/uavcan/actuators/esc.cpp b/src/drivers/uavcan/actuators/esc.cpp
index de1f5ad2a9..3eb07e08d5 100644
--- a/src/drivers/uavcan/actuators/esc.cpp
+++ b/src/drivers/uavcan/actuators/esc.cpp
@@ -41,6 +41,7 @@
 #include <systemlib/err.h>
 #include <parameters/param.h>
 #include <drivers/drv_hrt.h>
+#include <lib/atmosphere/atmosphere.h>
 
 #define MOTOR_BIT(x) (1<<(x))
 
@@ -147,7 +148,7 @@ UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavca
 		ref.esc_address = msg.getSrcNodeID().get();
 		ref.esc_voltage     = msg.voltage;
 		ref.esc_current     = msg.current;
-		ref.esc_temperature = msg.temperature;
+		ref.esc_temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
 		ref.esc_rpm         = msg.rpm;
 		ref.esc_errorcount  = msg.error_count;