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battery: fetch throttle value inside of class

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This commit is contained in:
Matthias Grob
2021-12-07 21:06:51 +01:00
parent ddc6b6bc9c
commit b965923c08
17 changed files with 38 additions and 81 deletions
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src/modules/esc_battery/EscBattery.cpp
+1 -5
View File
@@ -102,17 +102,13 @@ EscBattery::Run()
const bool connected = true;
const int priority = 0;
actuator_controls_s ctrl;
_actuator_ctrl_0_sub.copy(&ctrl);
_battery.updateBatteryStatus(
esc_status.timestamp,
average_voltage_v,
total_current_a,
connected,
battery_status_s::BATTERY_SOURCE_ESCS,
priority,
ctrl.control[actuator_controls_s::INDEX_THROTTLE]);
priority);
}
}
src/modules/esc_battery/EscBattery.hpp
+1 -3
View File
@@ -40,11 +40,10 @@
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_controls.h>
#include <battery/battery.h>
using namespace time_literals;
@@ -72,7 +71,6 @@ private:
void parameters_updated();
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};
uORB::SubscriptionCallbackWorkItem _esc_status_sub{this, ORB_ID(esc_status)};
static constexpr uint32_t ESC_BATTERY_INTERVAL_US = 20_ms; // assume higher frequency esc feedback than 50Hz