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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Beat Küng
63 lines
2.5 KiB
C++
63 lines
2.5 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "servo.hpp"
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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using namespace time_literals;
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UavcanServoController::UavcanServoController(uavcan::INode &node) :
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_node(node),
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_uavcan_pub_array_cmd(node)
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{
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_uavcan_pub_array_cmd.setPriority(UAVCAN_COMMAND_TRANSFER_PRIORITY);
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}
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void
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UavcanServoController::update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
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{
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uavcan::equipment::actuator::ArrayCommand msg;
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for (unsigned i = 0; i < num_outputs; ++i) {
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uavcan::equipment::actuator::Command cmd;
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cmd.actuator_id = i;
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cmd.command_type = uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS;
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cmd.command_value = (float)outputs[i] / 500.f - 1.f; // [-1, 1]
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msg.commands.push_back(cmd);
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}
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_uavcan_pub_array_cmd.broadcast(msg);
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}
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