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uavcan esc: translate temperature field from Kelvin to Celsius

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This commit is contained in:
Matthias Grob
2025-06-04 16:44:16 +02:00
parent 8e399ed78e
commit 7e055656b0
1 changed files with 2 additions and 1 deletions
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src/drivers/uavcan/actuators/esc.cpp
+2 -1
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@@ -41,6 +41,7 @@
#include <systemlib/err.h> #include <systemlib/err.h>
#include <parameters/param.h> #include <parameters/param.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <lib/atmosphere/atmosphere.h>
#define MOTOR_BIT(x) (1<<(x)) #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_address = msg.getSrcNodeID().get();
ref.esc_voltage = msg.voltage; ref.esc_voltage = msg.voltage;
ref.esc_current = msg.current; 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_rpm = msg.rpm;
ref.esc_errorcount = msg.error_count; ref.esc_errorcount = msg.error_count;