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author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-10-13 17:01:34 +0400 |
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committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-10-13 17:01:34 +0400 |
commit | 1bf4270e3ee6f33f8adf0027c1a59f3fc0b35263 (patch) | |
tree | 1792240a25145c5cdbe2dad91f230e192655e0bd | |
parent | e5a77a638a53aa9baec2ffe9d8ad96fb095b0966 (diff) | |
download | px4-firmware-1bf4270e3ee6f33f8adf0027c1a59f3fc0b35263.tar.gz px4-firmware-1bf4270e3ee6f33f8adf0027c1a59f3fc0b35263.tar.bz2 px4-firmware-1bf4270e3ee6f33f8adf0027c1a59f3fc0b35263.zip |
Update ORB topic 'esc_status'
-rw-r--r-- | src/drivers/hott/messages.cpp | 14 | ||||
-rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp | 6 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 14 | ||||
-rw-r--r-- | src/modules/uORB/topics/esc_status.h | 19 | ||||
-rw-r--r-- | src/modules/uavcan/actuators/esc.cpp | 14 |
5 files changed, 33 insertions, 34 deletions
diff --git a/src/drivers/hott/messages.cpp b/src/drivers/hott/messages.cpp index 086132573..f1b12b067 100644 --- a/src/drivers/hott/messages.cpp +++ b/src/drivers/hott/messages.cpp @@ -115,9 +115,9 @@ publish_gam_message(const uint8_t *buffer) esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT; esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10; - esc.esc[0].esc_temperature = msg.temperature1 - 20; - esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)); - esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff)); + esc.esc[0].esc_temperature = static_cast<float>(msg.temperature1) - 20.0F; + esc.esc[0].esc_voltage = static_cast<float>((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)) * 0.1F; + esc.esc[0].esc_current = static_cast<float>((msg.current_H << 8) | (msg.current_L & 0xff)) * 0.1F; /* announce the esc if needed, just publish else */ if (_esc_pub > 0) { @@ -186,18 +186,18 @@ build_gam_response(uint8_t *buffer, size_t *size) msg.gam_sensor_id = GAM_SENSOR_ID; msg.sensor_text_id = GAM_SENSOR_TEXT_ID; - msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20); + msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20.0F); msg.temperature2 = 20; // 0 deg. C. - uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage); + const uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage * 10.0F); msg.main_voltage_L = (uint8_t)voltage & 0xff; msg.main_voltage_H = (uint8_t)(voltage >> 8) & 0xff; - uint16_t current = (uint16_t)(esc.esc[0].esc_current); + const uint16_t current = (uint16_t)(esc.esc[0].esc_current * 10.0F); msg.current_L = (uint8_t)current & 0xff; msg.current_H = (uint8_t)(current >> 8) & 0xff; - uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f); + const uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f); msg.rpm_L = (uint8_t)rpm & 0xff; msg.rpm_H = (uint8_t)(rpm >> 8) & 0xff; diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 3996b76a6..1055487cb 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -600,8 +600,8 @@ MK::task_main() esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i; esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER; esc.esc[i].esc_version = (uint16_t) Motor[i].Version; - esc.esc[i].esc_voltage = (uint16_t) 0; - esc.esc[i].esc_current = (uint16_t) Motor[i].Current; + esc.esc[i].esc_voltage = 0.0F; + esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F; esc.esc[i].esc_rpm = (uint16_t) 0; esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4; @@ -614,7 +614,7 @@ MK::task_main() esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint; } - esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature; + esc.esc[i].esc_temperature = static_cast<float>(Motor[i].Temperature); esc.esc[i].esc_state = (uint16_t) Motor[i].State; esc.esc[i].esc_errorcount = (uint16_t) 0; diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index d2845eb75..aeff4fd30 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -241,15 +241,15 @@ struct log_GPSP_s { #define LOG_ESC_MSG 18 struct log_ESC_s { uint16_t counter; - uint8_t esc_count; - uint8_t esc_connectiontype; - uint8_t esc_num; + uint8_t esc_count; + uint8_t esc_connectiontype; + uint8_t esc_num; uint16_t esc_address; uint16_t esc_version; - uint16_t esc_voltage; - uint16_t esc_current; + float esc_voltage; + float esc_current; uint16_t esc_rpm; - uint16_t esc_temperature; + float esc_temperature; float esc_setpoint; uint16_t esc_setpoint_raw; }; @@ -452,7 +452,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"), LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), - LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), + LOG_FORMAT(ESC, "HBBBHHffHffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h index 628824efa..b82796908 100644 --- a/src/modules/uORB/topics/esc_status.h +++ b/src/modules/uORB/topics/esc_status.h @@ -78,6 +78,7 @@ enum ESC_CONNECTION_TYPE { /** * Electronic speed controller status. + * Unsupported float fields should be assigned NaN. */ struct esc_status_s { /* use of a counter and timestamp recommended (but not necessary) */ @@ -89,17 +90,17 @@ struct esc_status_s { enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */ struct { - uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */ enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */ - uint16_t esc_version; /**< Version of current ESC - if supported */ - uint16_t esc_voltage; /**< Voltage measured from current ESC - if supported */ - uint16_t esc_current; /**< Current measured from current ESC (100mA steps) - if supported */ - uint16_t esc_rpm; /**< RPM measured from current ESC - if supported */ - uint16_t esc_temperature; /**< Temperature measured from current ESC - if supported */ - float esc_setpoint; /**< setpoint of current ESC */ + uint32_t esc_errorcount; /**< Number of reported errors by ESC - if supported */ + float esc_voltage; /**< Voltage measured from current ESC [V] - if supported */ + float esc_current; /**< Current measured from current ESC [A] - if supported */ + float esc_temperature; /**< Temperature measured from current ESC [degC] - if supported */ + float esc_setpoint; /**< setpoint of current ESC */ uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */ - uint16_t esc_state; /**< State of ESC - depend on Vendor */ - uint16_t esc_errorcount; /**< Number of reported errors by ESC - if supported */ + uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */ + uint16_t esc_version; /**< Version of current ESC - if supported */ + uint16_t esc_rpm; /**< RPM measured from current ESC [RPM] - if supported */ + uint16_t esc_state; /**< State of ESC - depend on Vendor */ } esc[CONNECTED_ESC_MAX]; }; diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp index 0601d9fa2..249ffba07 100644 --- a/src/modules/uavcan/actuators/esc.cpp +++ b/src/modules/uavcan/actuators/esc.cpp @@ -134,14 +134,12 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure< ref.esc_address = msg.getSrcNodeID().get(); - // >0 checks allow to weed out NaNs and negative values that aren't supported. - ref.esc_voltage = (msg.voltage > 0) ? msg.voltage * 10.0F : 0; - ref.esc_current = (msg.current > 0) ? msg.current * 10.0F : 0; - ref.esc_temperature = (msg.temperature > 0) ? msg.temperature * 10.0F : 0; - - ref.esc_setpoint = msg.power_rating_pct; - ref.esc_rpm = abs(msg.rpm); - ref.esc_errorcount = msg.error_count; + ref.esc_voltage = msg.voltage; + ref.esc_current = msg.current; + ref.esc_temperature = msg.temperature; + ref.esc_setpoint = msg.power_rating_pct; + ref.esc_rpm = abs(msg.rpm); + ref.esc_errorcount = msg.error_count; } } |