diff options
| author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-10-12 15:34:28 +0400 |
|---|---|---|
| committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-10-12 15:34:28 +0400 |
| commit | ced75deebe527581930419155fb0d73f18b7a5fe (patch) | |
| tree | 9462a5df1dbd5f7328e9190ecdf8d363daa33880 /src/modules/uavcan/actuators/esc.cpp | |
| parent | 835bab9115b49d90326a992917e8bd3e088e3fcd (diff) | |
| download | px4-firmware-ced75deebe527581930419155fb0d73f18b7a5fe.tar.gz px4-firmware-ced75deebe527581930419155fb0d73f18b7a5fe.tar.bz2 px4-firmware-ced75deebe527581930419155fb0d73f18b7a5fe.zip | |
ESC scaling fix
Diffstat (limited to 'src/modules/uavcan/actuators/esc.cpp')
| -rw-r--r-- | src/modules/uavcan/actuators/esc.cpp | 15 |
1 files changed, 6 insertions, 9 deletions
diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp index 223d94731..b516536c7 100644 --- a/src/modules/uavcan/actuators/esc.cpp +++ b/src/modules/uavcan/actuators/esc.cpp @@ -93,25 +93,22 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) */ uavcan::equipment::esc::RawCommand msg; + static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max(); + if (_armed) { for (unsigned i = 0; i < num_outputs; i++) { - float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX; + float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max; if (scaled < 1.0F) { scaled = 1.0F; // Since we're armed, we don't want to stop it completely } - if (scaled < uavcan::equipment::esc::RawCommand::CMD_MIN) { - scaled = uavcan::equipment::esc::RawCommand::CMD_MIN; - perf_count(_perfcnt_scaling_error); - } else if (scaled > uavcan::equipment::esc::RawCommand::CMD_MAX) { - scaled = uavcan::equipment::esc::RawCommand::CMD_MAX; + if (scaled > cmd_max) { + scaled = cmd_max; perf_count(_perfcnt_scaling_error); - } else { - ; // Correct value } - msg.cmd.push_back(static_cast<unsigned>(scaled)); + msg.cmd.push_back(static_cast<int>(scaled)); } } |