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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/uavcan/actuators/esc.cpp
+4 -5
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@@ -115,14 +115,13 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<
if (msg.esc_index < esc_status_s::CONNECTED_ESC_MAX) {
esc_report_s &esc_report = _esc_status.esc[msg.esc_index];
esc_report.timestamp = hrt_absolute_time();
esc_report.esc_address = msg.getSrcNodeID().get();
esc_report.esc_voltage = msg.voltage;
esc_report.esc_current = msg.current;
esc_report.esc_temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
// esc_report.motor_temperature is filled in the extended status callback
esc_report.esc_rpm = msg.rpm;
esc_report.esc_errorcount = msg.error_count;
esc_report.failures = get_failures(msg.esc_index);
esc_report.failures = get_failures(msg.esc_index, msg.getSrcNodeID().get());
_esc_status.esc_count = _rotor_count;
_esc_status.counter += 1;
@@ -169,11 +168,11 @@ uint16_t UavcanEscController::check_escs_status()
return esc_status_flags;
}
uint32_t UavcanEscController::get_failures(uint8_t esc_index)
uint32_t UavcanEscController::get_failures(uint8_t esc_index, uint8_t node_id)
{
// Check DoneCAN node health of the ESC
// Check DroneCAN node health of the ESC
dronecan_node_status_s node_status{};
uint8_t esc_node_id = _esc_status.esc[esc_index].esc_address;
uint8_t esc_node_id = node_id;
uint8_t node_health = dronecan_node_status_s::HEALTH_OK;
uint16_t vendor_specific_status_code = 0;
src/drivers/uavcan/actuators/esc.hpp
+1 -1
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@@ -104,7 +104,7 @@ private:
/**
* Gets failure flags for a specific ESC
*/
uint32_t get_failures(uint8_t esc_index);
uint32_t get_failures(uint8_t esc_index, uint8_t node_id);
typedef uavcan::MethodBinder<UavcanEscController *,
void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> StatusCbBinder;