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esc_report: add actuator_function

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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/telemetry/hott/messages.cpp
+2
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@@ -48,6 +48,7 @@
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/actuator_motors.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_gps_position.h>
@@ -114,6 +115,7 @@ publish_gam_message(const uint8_t *buffer)
esc.esc_count = 1;
esc.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_PPM;
esc.esc[0].actuator_function = actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1;
esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
esc.esc[0].esc_temperature = static_cast<float>(msg.temperature1 - 20);
esc.esc[0].esc_voltage = static_cast<float>((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)) * 0.1F;