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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 /src/modules/uavcan | |
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/modules/uavcan')
-rw-r--r-- | src/modules/uavcan/actuators/esc.cpp | 14 |
1 files changed, 6 insertions, 8 deletions
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; } } |