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Move esc_status to generated topics

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This commit is contained in:
Lorenz Meier
2015-05-27 15:21:31 -07:00
parent f7c9e918b1
commit e07731de7a
6 changed files with 37 additions and 123 deletions
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src/modules/uavcan/actuators/esc.cpp
+3 -3
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@@ -85,7 +85,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
{
if ((outputs == nullptr) ||
(num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) ||
(num_outputs > CONNECTED_ESC_MAX)) {
(num_outputs > esc_status_s::CONNECTED_ESC_MAX)) {
perf_count(_perfcnt_invalid_input);
return;
}
@@ -159,7 +159,7 @@ void UavcanEscController::arm_single_esc(int num, bool arm)
void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
{
if (msg.esc_index < CONNECTED_ESC_MAX) {
if (msg.esc_index < esc_status_s::CONNECTED_ESC_MAX) {
_esc_status.esc_count = uavcan::max<int>(_esc_status.esc_count, msg.esc_index + 1);
_esc_status.timestamp = msg.getMonotonicTimestamp().toUSec();
@@ -179,7 +179,7 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<
void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
{
_esc_status.counter += 1;
_esc_status.esc_connectiontype = ESC_CONNECTION_TYPE_CAN;
_esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_CAN;
if (_esc_status_pub > 0) {
(void)orb_publish(ORB_ID(esc_status), _esc_status_pub, &_esc_status);