diff options
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 4 | ||||
| -rw-r--r-- | src/modules/uORB/topics/esc_status.h | 2 | ||||
| -rw-r--r-- | src/modules/uavcan/actuators/esc.cpp | 2 |
3 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index aeff4fd30..d49fc0c79 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -248,7 +248,7 @@ struct log_ESC_s { uint16_t esc_version; float esc_voltage; float esc_current; - uint16_t esc_rpm; + int32_t esc_rpm; 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, "HBBBHHffHffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), + LOG_FORMAT(ESC, "HBBBHHffiffH", "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 b82796908..98cdad3d5 100644 --- a/src/modules/uORB/topics/esc_status.h +++ b/src/modules/uORB/topics/esc_status.h @@ -99,7 +99,7 @@ struct esc_status_s { uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */ 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 */ + int32_t esc_rpm; /**< Motor RPM, negative for reverse rotation [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 08e504947..1990651ef 100644 --- a/src/modules/uavcan/actuators/esc.cpp +++ b/src/modules/uavcan/actuators/esc.cpp @@ -140,7 +140,7 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure< 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_rpm = msg.rpm; ref.esc_errorcount = msg.error_count; } } |