diff options
| author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-10-13 17:07:14 +0400 |
|---|---|---|
| committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-10-13 17:07:14 +0400 |
| commit | ecd144b8b4c334f4eb7a0e39e47065d6958fefaf (patch) | |
| tree | 064876039f33b758e88cceaced741d0c2a90ea29 /src/modules/uavcan | |
| parent | 1bf4270e3ee6f33f8adf0027c1a59f3fc0b35263 (diff) | |
| download | px4-firmware-ecd144b8b4c334f4eb7a0e39e47065d6958fefaf.tar.gz px4-firmware-ecd144b8b4c334f4eb7a0e39e47065d6958fefaf.tar.bz2 px4-firmware-ecd144b8b4c334f4eb7a0e39e47065d6958fefaf.zip | |
Publishing esc_setpoint_raw from the UAVCAN driver
Diffstat (limited to 'src/modules/uavcan')
| -rw-r--r-- | src/modules/uavcan/actuators/esc.cpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp index 249ffba07..08e504947 100644 --- a/src/modules/uavcan/actuators/esc.cpp +++ b/src/modules/uavcan/actuators/esc.cpp @@ -109,6 +109,8 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) } msg.cmd.push_back(static_cast<int>(scaled)); + + _esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled)); } } |