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refactor(msg): remove esc_address from EscReport

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This commit is contained in:
Jacob Dahl
2026-03-18 10:52:59 +01:00
committed by Matthias Grob
parent aeb71cc8b4
commit 8765275b5d
6 changed files with 5 additions and 20 deletions
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src/drivers/actuators/vertiq_io/vertiq_telemetry_manager.cpp
-2
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@@ -80,7 +80,6 @@ void VertiqTelemetryManager::StartPublishing(uORB::Publication<esc_status_s> *es
for (unsigned i = 0; i < _number_of_module_ids_for_telem; i++) {
_esc_status.esc[i].timestamp = 0;
_esc_status.esc[i].esc_address = 0;
_esc_status.esc[i].esc_rpm = 0;
_esc_status.esc[i].esc_state = 0;
_esc_status.esc[i].esc_voltage = 0;
@@ -111,7 +110,6 @@ uint16_t VertiqTelemetryManager::UpdateTelemetry()
IFCITelemetryData telem_response = _telem_interface.telemetry_.get_reply();
// also update our internal report for logging
_esc_status.esc[_current_module_id_target_index].esc_address = _module_ids_in_use[_number_of_module_ids_for_telem];
_esc_status.esc[_current_module_id_target_index].timestamp = time_now;
_esc_status.esc[_current_module_id_target_index].esc_rpm = telem_response.speed * 60.0f * M_1_PI_F *
0.5f; //We get back rad/s, convert to rpm
src/drivers/actuators/voxl_esc/voxl_esc.cpp
-10
View File
@@ -63,7 +63,6 @@ VoxlEsc::VoxlEsc() :
for (unsigned i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) {
_esc_status.esc[i].timestamp = 0;
_esc_status.esc[i].esc_address = 0;
_esc_status.esc[i].esc_rpm = 0;
_esc_status.esc[i].esc_state = 0;
_esc_status.esc[i].esc_voltage = 0;
@@ -520,7 +519,6 @@ int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
_esc_chans[id].feedback_time = tnow;
// also update our internal report for logging
_esc_status.esc[id].esc_address = motor_idx + 1; //remapped motor ID
_esc_status.esc[id].timestamp = tnow;
_esc_status.esc[id].esc_rpm = fb.rpm;
_esc_status.esc[id].esc_power = fb.power;
@@ -559,14 +557,6 @@ int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
}
//print ESC status just for debugging
/*
PX4_INFO("[%lld] ID=%d, ADDR %d, STATE=%d, RPM=%5d, PWR=%3d%%, V=%.2fdV, I=%.2fA, T=%+3dC, FAIL %d",
_esc_status.esc[id].timestamp, id, _esc_status.esc[id].esc_address,
_esc_status.esc[id].esc_state, _esc_status.esc[id].esc_rpm, _esc_status.esc[id].esc_power,
(double)_esc_status.esc[id].esc_voltage, (double)_esc_status.esc[id].esc_current, _esc_status.esc[id].esc_temperature,
_esc_status.esc[id].failures);
*/
}
}