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fix: esc status sizing fix for gz simulation

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* init: working towards dual-action ATMOS

* fix: update gz sim to latest

* fix: add motor number max fitting Actuator

* fix: revert non-necessary changes

* fix: ensure esc count does not exceed maximum number of ESCs

* fix: remove extra modules

* fix: sync submodules with remote

* fix: sync with main
This commit is contained in:
Pedro Roque
2025-12-16 15:46:51 -08:00
committed by GitHub
parent 5632728467
commit cb682006fe
2 changed files with 5 additions and 3 deletions
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src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
+3 -2
View File
@@ -109,9 +109,10 @@ void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuato
pthread_mutex_lock(&_node_mutex); pthread_mutex_lock(&_node_mutex);
esc_status_s esc_status{}; esc_status_s esc_status{};
esc_status.esc_count = actuators.velocity_size(); // Limit to max supported ESCs while allowing for a larger number of system actuators
esc_status.esc_count = math::min(actuators.velocity_size(), static_cast<int>(esc_status_s::CONNECTED_ESC_MAX));
for (int i = 0; i < actuators.velocity_size(); i++) { for (int i = 0; i < esc_status.esc_count; i++) {
esc_status.esc[i].timestamp = hrt_absolute_time(); esc_status.esc[i].timestamp = hrt_absolute_time();
esc_status.esc[i].esc_rpm = actuators.velocity(i); esc_status.esc[i].esc_rpm = actuators.velocity(i);
esc_status.esc_online_flags |= 1 << i; esc_status.esc_online_flags |= 1 << i;
src/modules/simulation/gz_bridge/module.yaml
+2 -1
View File
@@ -1,3 +1,4 @@
__max_num_motors: &max_num_motors 12
__max_num_servos: &max_num_servos 8 __max_num_servos: &max_num_servos 8
__max_num_tilts: &max_num_tilts 4 __max_num_tilts: &max_num_tilts 4
@@ -18,7 +19,7 @@ actuator_output:
min: { min: 0, max: 1000, default: 0 } min: { min: 0, max: 1000, default: 0 }
max: { min: 0, max: 1000, default: 1000 } max: { min: 0, max: 1000, default: 1000 }
failsafe: { min: 0, max: 1000 } failsafe: { min: 0, max: 1000 }
num_channels: *max_num_servos num_channels: *max_num_motors
- param_prefix: SIM_GZ_SV - param_prefix: SIM_GZ_SV
group_label: 'Servos' group_label: 'Servos'
channel_label: 'Servo' channel_label: 'Servo'