diff options
Diffstat (limited to 'src/drivers/hott/messages.cpp')
| -rw-r--r-- | src/drivers/hott/messages.cpp | 32 |
1 files changed, 17 insertions, 15 deletions
diff --git a/src/drivers/hott/messages.cpp b/src/drivers/hott/messages.cpp index 90a744015..1e779e8dc 100644 --- a/src/drivers/hott/messages.cpp +++ b/src/drivers/hott/messages.cpp @@ -51,6 +51,8 @@ #include <uORB/topics/sensor_combined.h> #include <uORB/topics/vehicle_gps_position.h> +#include <drivers/drv_hrt.h> + /* The board is very roughly 5 deg warmer than the surrounding air */ #define BOARD_TEMP_OFFSET_DEG 5 @@ -62,7 +64,6 @@ static int _airspeed_sub = -1; static int _esc_sub = -1; static orb_advert_t _esc_pub; -struct esc_status_s _esc; static bool _home_position_set = false; static double _home_lat = 0.0d; @@ -82,8 +83,6 @@ init_sub_messages(void) void init_pub_messages(void) { - memset(&_esc, 0, sizeof(_esc)); - _esc_pub = orb_advertise(ORB_ID(esc_status), &_esc); } void @@ -106,23 +105,26 @@ publish_gam_message(const uint8_t *buffer) size_t size = sizeof(msg); memset(&msg, 0, size); memcpy(&msg, buffer, size); + struct esc_status_s esc; + memset(&esc, 0, sizeof(esc)); + + // Publish it. + esc.timestamp = hrt_absolute_time(); + esc.esc_count = 1; + esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM; + + esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT; + esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10; + esc.esc[0].esc_temperature = msg.temperature1 - 20; + esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)); + esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff)); /* announce the esc if needed, just publish else */ if (_esc_pub > 0) { - orb_publish(ORB_ID(esc_status), _esc_pub, &_esc); + orb_publish(ORB_ID(esc_status), _esc_pub, &esc); } else { - _esc_pub = orb_advertise(ORB_ID(esc_status), &_esc); + _esc_pub = orb_advertise(ORB_ID(esc_status), &esc); } - - // Publish it. - _esc.esc_count = 1; - _esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM; - - _esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT; - _esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10; - _esc.esc[0].esc_temperature = msg.temperature1 - 20; - _esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)); - _esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff)); } void |