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mavlink: Fix ESC_STATUS sending for batches > 1

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The indexing was wrong for esc_status sending for ESCs 4->

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen 2024-08-16 09:42:48 +03:00 committed by Daniel Agar
parent ca47f6f016
commit f67eb6989d
1 changed files with 5 additions and 4 deletions
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9
src/modules/mavlink/streams/ESC_STATUS.hpp
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@ -75,10 +75,11 @@ private:
for (int batch_number = 0; batch_number < _number_of_batches; batch_number++) {
msg.index = batch_number * batch_size;
for (int esc_index = 0; esc_index < batch_size ; esc_index++) {
msg.rpm[esc_index] = esc_status.esc[esc_index].esc_rpm;
msg.voltage[esc_index] = esc_status.esc[esc_index].esc_voltage;
msg.current[esc_index] = esc_status.esc[esc_index].esc_current;
for (int esc_index = 0; esc_index < batch_size
&& msg.index + esc_index < esc_status_s::CONNECTED_ESC_MAX; esc_index++) {
msg.rpm[esc_index] = esc_status.esc[msg.index + esc_index].esc_rpm;
msg.voltage[esc_index] = esc_status.esc[msg.index + esc_index].esc_voltage;
msg.current[esc_index] = esc_status.esc[msg.index + esc_index].esc_current;
}
mavlink_msg_esc_status_send_struct(_mavlink->get_channel(), &msg);