Update ORB topic 'esc_status'

3 files changed, 23 insertions, 24 deletions

diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index d2845eb75..aeff4fd30 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -241,15 +241,15 @@ struct log_GPSP_s {
 #define LOG_ESC_MSG 18
 struct log_ESC_s {
 	uint16_t counter;
-	uint8_t esc_count;
-	uint8_t esc_connectiontype;
-	uint8_t esc_num;
+	uint8_t  esc_count;
+	uint8_t  esc_connectiontype;
+	uint8_t  esc_num;
 	uint16_t esc_address;
 	uint16_t esc_version;
-	uint16_t esc_voltage;
-	uint16_t esc_current;
+	float    esc_voltage;
+	float    esc_current;
 	uint16_t esc_rpm;
-	uint16_t esc_temperature;
+	float    esc_temperature;
 	float    esc_setpoint;
 	uint16_t esc_setpoint_raw;
 };
@@ -452,7 +452,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(FLOW, "hhfffBB",		"RawX,RawY,CompX,CompY,Dist,Q,SensID"),
 	LOG_FORMAT(GPOS, "LLfffffff",		"Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
 	LOG_FORMAT(GPSP, "BLLffBfbf",		"NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
-	LOG_FORMAT(ESC, "HBBBHHHHHHfH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
+	LOG_FORMAT(ESC, "HBBBHHffHffH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
 	LOG_FORMAT(BATT, "ffff",		"V,VFilt,C,Discharged"),
 	LOG_FORMAT(DIST, "ffB",			"Bottom,BottomRate,Flags"),
diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h
index 628824efa..b82796908 100644
--- a/src/modules/uORB/topics/esc_status.h
+++ b/src/modules/uORB/topics/esc_status.h
@@ -78,6 +78,7 @@ enum ESC_CONNECTION_TYPE {
 
 /**
  * Electronic speed controller status.
+ * Unsupported float fields should be assigned NaN.
  */
 struct esc_status_s {
 	/* use of a counter and timestamp recommended (but not necessary) */
@@ -89,17 +90,17 @@ struct esc_status_s {
 	enum ESC_CONNECTION_TYPE esc_connectiontype;	/**< how ESCs connected to the system */
 
 	struct {
-		uint16_t esc_address;			/**< Address of current ESC (in most cases 1-8 / must be set by driver) */
 		enum ESC_VENDOR esc_vendor;		/**< Vendor of current ESC */
-		uint16_t esc_version;			/**< Version of current ESC - if supported */
-		uint16_t esc_voltage;			/**< Voltage measured from current ESC - if supported */
-		uint16_t esc_current;			/**< Current measured from current ESC (100mA steps) - if supported */
-		uint16_t esc_rpm;				/**< RPM measured from current ESC - if supported */
-		uint16_t esc_temperature;		/**< Temperature measured from current ESC - if supported */
-		float    esc_setpoint;			/**< setpoint of current ESC */
+		uint32_t esc_errorcount;		/**< Number of reported errors by ESC - if supported */
+		float esc_voltage;			/**< Voltage measured from current ESC [V] - if supported */
+		float esc_current;			/**< Current measured from current ESC [A] - if supported */
+		float esc_temperature;			/**< Temperature measured from current ESC [degC] - if supported */
+		float esc_setpoint;			/**< setpoint of current ESC */
 		uint16_t esc_setpoint_raw;		/**< setpoint of current ESC (Value sent to ESC) */
-		uint16_t esc_state;				/**< State of ESC - depend on Vendor */
-		uint16_t esc_errorcount;		/**< Number of reported errors by ESC - if supported */
+		uint16_t esc_address;			/**< Address of current ESC (in most cases 1-8 / must be set by driver) */
+		uint16_t esc_version;			/**< Version of current ESC - if supported */
+		uint16_t esc_rpm;			/**< RPM measured from current ESC [RPM] - if supported */
+		uint16_t esc_state;			/**< State of ESC - depend on Vendor */
 	} esc[CONNECTED_ESC_MAX];
 
 };
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;
 	}
 }