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More complete ESC feedback, ensure to include a timestamp

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Lorenz Meier
2016-06-23 18:39:16 +02:00
parent 34c0d3e99a
commit bf0b3c1585
1 changed files with 4 additions and 0 deletions
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src/drivers/tap_esc/tap_esc.cpp
+4
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@@ -155,6 +155,7 @@ TAP_ESC::TAP_ESC():
_outputs_pub(nullptr),
_control_subs{ -1},
_esc_feedback_pub(nullptr),
_esc_feedback{},
_mixers(nullptr),
_groups_required(0),
_groups_subscribed(0),
@@ -599,6 +600,7 @@ TAP_ESC::cycle()
_esc_feedback.esc[feed_back_data.ESC_ID].esc_rpm = feed_back_data.speed;
_esc_feedback.esc[feed_back_data.ESC_ID].esc_voltage = feed_back_data.voltage;
_esc_feedback.esc[feed_back_data.ESC_ID].esc_state = feed_back_data.ESC_STATUS;
_esc_feedback.esc[feed_back_data.ESC_ID].esc_vendor = esc_status_s::ESC_VENDOR_TAP;
// printf("vol is %d\n",feed_back_data.voltage );
// printf("speed is %d\n",feed_back_data.speed );
@@ -606,6 +608,8 @@ TAP_ESC::cycle()
_esc_feedback.counter++;
_esc_feedback.esc_count = esc_count;
_esc_feedback.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(esc_status), _esc_feedback_pub, &_esc_feedback);
}
}