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| author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-10-13 17:01:34 +0400 |
|---|---|---|
| committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-10-13 17:01:34 +0400 |
| commit | 1bf4270e3ee6f33f8adf0027c1a59f3fc0b35263 (patch) | |
| tree | 1792240a25145c5cdbe2dad91f230e192655e0bd /src/drivers/mkblctrl | |
| parent | e5a77a638a53aa9baec2ffe9d8ad96fb095b0966 (diff) | |
| download | px4-firmware-1bf4270e3ee6f33f8adf0027c1a59f3fc0b35263.tar.gz px4-firmware-1bf4270e3ee6f33f8adf0027c1a59f3fc0b35263.tar.bz2 px4-firmware-1bf4270e3ee6f33f8adf0027c1a59f3fc0b35263.zip | |
Update ORB topic 'esc_status'
Diffstat (limited to 'src/drivers/mkblctrl')
| -rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
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; |