Mirrors_Framework/PX4-Autopilot
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esc_report: remove unused fields to reduce message size

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esc_setpoint in UAVCAN was just wrong, this is what it really is:
uint7 power_rating_pct      # Instant demand factor in percent
(percent of maximum power); range 0% to 127%.
This commit is contained in:
Beat Küng
2019-10-14 13:39:34 +02:00
parent 0db0981b1b
commit 6854b14dd6
4 changed files with 1 additions and 16 deletions
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src/drivers/mkblctrl/mkblctrl.cpp
-10
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@@ -617,16 +617,6 @@ MK::task_main()
esc.esc[i].esc_voltage = 0.0F;
esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F;
esc.esc[i].esc_rpm = (uint16_t) 0;
esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4;
if (Motor[i].Version == 1) {
// BLCtrl 2.0 (11Bit)
esc.esc[i].esc_setpoint_raw = (uint16_t)(Motor[i].SetPoint << 3) | Motor[i].SetPointLowerBits;
} else {
// BLCtrl < 2.0 (8Bit)
esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint;
}
esc.esc[i].esc_temperature = static_cast<uint8_t>(Motor[i].Temperature);
esc.esc[i].esc_state = (uint8_t) Motor[i].State;