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esc_report: add actuator_function

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This commit is contained in:
Beat Küng
2022-01-24 11:20:27 +01:00
parent aab2feb8f5
commit dfd934fbdb
9 changed files with 35 additions and 13 deletions
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src/drivers/tap_esc/TAP_ESC.cpp
+2
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@@ -290,6 +290,8 @@ bool TAP_ESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], u
if (feed_back_data.channelID < esc_status_s::CONNECTED_ESC_MAX) {
_esc_feedback.esc[feed_back_data.channelID].timestamp = hrt_absolute_time();
_esc_feedback.esc[feed_back_data.channelID].actuator_function = (uint8_t)_mixing_output.outputFunction(
feed_back_data.channelID);
_esc_feedback.esc[feed_back_data.channelID].esc_errorcount = 0;
_esc_feedback.esc[feed_back_data.channelID].esc_rpm = feed_back_data.speed;
#if defined(ESC_HAVE_VOLTAGE_SENSOR)