From ecd144b8b4c334f4eb7a0e39e47065d6958fefaf Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Mon, 13 Oct 2014 17:07:14 +0400 Subject: [PATCH] Publishing esc_setpoint_raw from the UAVCAN driver --- src/modules/uavcan/actuators/esc.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp index 249ffba07c..08e5049477 100644 --- a/src/modules/uavcan/actuators/esc.cpp +++ b/src/modules/uavcan/actuators/esc.cpp @@ -109,6 +109,8 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) } msg.cmd.push_back(static_cast(scaled)); + + _esc_status.esc[i].esc_setpoint_raw = abs(static_cast(scaled)); } }