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| author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-10-12 20:56:45 +0400 |
|---|---|---|
| committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-10-12 20:56:45 +0400 |
| commit | e5a77a638a53aa9baec2ffe9d8ad96fb095b0966 (patch) | |
| tree | 433f687417ddc46adf36e7c59a25ea0b34cc1695 /src/modules/uavcan/actuators/esc.hpp | |
| parent | ced75deebe527581930419155fb0d73f18b7a5fe (diff) | |
| download | px4-firmware-e5a77a638a53aa9baec2ffe9d8ad96fb095b0966.tar.gz px4-firmware-e5a77a638a53aa9baec2ffe9d8ad96fb095b0966.tar.bz2 px4-firmware-e5a77a638a53aa9baec2ffe9d8ad96fb095b0966.zip | |
ESC status feedback
Diffstat (limited to 'src/modules/uavcan/actuators/esc.hpp')
| -rw-r--r-- | src/modules/uavcan/actuators/esc.hpp | 15 |
1 files changed, 7 insertions, 8 deletions
diff --git a/src/modules/uavcan/actuators/esc.hpp b/src/modules/uavcan/actuators/esc.hpp index 0add7e0ad..f4a3877e6 100644 --- a/src/modules/uavcan/actuators/esc.hpp +++ b/src/modules/uavcan/actuators/esc.hpp @@ -48,6 +48,8 @@ #include <uavcan/equipment/esc/RawCommand.hpp> #include <uavcan/equipment/esc/Status.hpp> #include <systemlib/perf_counter.h> +#include <uORB/topics/esc_status.h> + class UavcanEscController { @@ -74,8 +76,7 @@ private: static constexpr unsigned MAX_RATE_HZ = 200; ///< XXX make this configurable - static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 5; - static constexpr unsigned MAX_ESCS = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize; + static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10; typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> @@ -84,6 +85,10 @@ private: typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::TimerEvent&)> TimerCbBinder; + bool _armed = false; + esc_status_s _esc_status = {}; + orb_advert_t _esc_status_pub = -1; + /* * libuavcan related things */ @@ -94,12 +99,6 @@ private: uavcan::TimerEventForwarder<TimerCbBinder> _orb_timer; /* - * ESC states - */ - bool _armed = false; - uavcan::equipment::esc::Status _states[MAX_ESCS]; - - /* * Perf counters */ perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input"); |