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bebop bus wrapper: fix logging of rpm and rpm setpoint

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2017-01-28 20:18:01 +01:00
committed by Lorenz Meier
parent 1d4d57c4db
commit c065dc1930
1 changed files with 11 additions and 12 deletions
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src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
+11 -12
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@@ -103,6 +103,9 @@ private:
int _battery_orb_class_instance;
// map for bebop motor index to PX4 motor index
const uint8_t _esc_map[4] = {0, 2, 3, 1};
int _publish(struct bebop_state_data &data);
};
@@ -203,20 +206,16 @@ int DfBebopBusWrapper::_publish(struct bebop_state_data &data)
esc_status_s esc_status = {};
for (int i = 0; i < 4; i++) {
esc_status.timestamp = hrt_absolute_time();
esc_status.esc_count = 4;
esc_status.esc[i].timestamp = esc_status.timestamp;
esc_status.esc[i].esc_rpm = data.rpm[i];
}
// write desired motor rpm
uint16_t esc_speed_setpoint_rpm[4] = {};
BebopBus::_get_esc_speed_setpoint(esc_speed_setpoint_rpm);
esc_status.esc[0].esc_setpoint_raw = esc_speed_setpoint_rpm[1];
esc_status.esc[1].esc_setpoint_raw = esc_speed_setpoint_rpm[3];
esc_status.esc[2].esc_setpoint_raw = esc_speed_setpoint_rpm[0];
esc_status.esc[3].esc_setpoint_raw = esc_speed_setpoint_rpm[2];
esc_status.timestamp = hrt_absolute_time();
esc_status.esc_count = 4;
for (int i = 0; i < 4; i++) {
esc_status.esc[_esc_map[i]].timestamp = esc_status.timestamp;
esc_status.esc[_esc_map[i]].esc_rpm = data.rpm[i];
esc_status.esc[_esc_map[i]].esc_setpoint_raw = esc_speed_setpoint_rpm[i];
}
// TODO: when is this ever blocked?
if (!(m_pub_blocked)) {