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Improve logging for Modal IO ESC (#21188)

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- always publish esc_status
 - when enabled via MODAL_IO_VLOG param, enable actuator debug output

 - for modal_io commands, use ESC HW ID values instead of motor number for easier use
 - publish esc_status message for command line commands

 - Uncommented the code that fills in the cmdcount and power fields in the esc_status topic

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Co-authored-by: Travis Bottalico <travis@modalai.com>
This commit is contained in:
Eric Katzfey
2023-03-06 06:51:22 -08:00
committed by GitHub
parent daa302cdbe
commit 5cade89499
5 changed files with 64 additions and 89 deletions
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msg/ActuatorOutputs.msg
+1 -1
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@@ -5,4 +5,4 @@ uint32 noutputs # valid outputs
float32[16] output # output data, in natural output units
# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
# TOPICS actuator_outputs actuator_outputs_sim
# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug