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add MOTOR_MIXING message

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This commit is contained in:
Michal Podhradsky
2016-09-17 23:55:10 +02:00
committed by Felix Ruess
parent 770834a65a
commit bb597681d1
2 changed files with 17 additions and 1 deletions
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sw/airborne/subsystems/actuators/motor_mixing.c
+16
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@@ -93,6 +93,19 @@ static const int32_t thrust_coef[MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_THRUST_CO
struct MotorMixing motor_mixing; struct MotorMixing motor_mixing;
#if PERIODIC_TELEMETRY
#include "subsystems/datalink/telemetry.h"
static void send_motor_mixing(struct transport_tx *trans, struct link_device *dev)
{
int16_t motors[MOTOR_MIXING_NB_MOTOR];
for (uint8_t i = 0; i < MOTOR_MIXING_NB_MOTOR; i++)
{
motors[i] = (int16_t)motor_mixing.commands[i];
}
pprz_msg_send_MOTOR_MIXING(trans, dev, AC_ID , MOTOR_MIXING_NB_MOTOR, motors);
}
#endif
void motor_mixing_init(void) void motor_mixing_init(void)
{ {
uint8_t i; uint8_t i;
@@ -107,6 +120,9 @@ void motor_mixing_init(void)
} }
motor_mixing.nb_failure = 0; motor_mixing.nb_failure = 0;
motor_mixing.nb_saturation = 0; motor_mixing.nb_saturation = 0;
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_MOTOR_MIXING, send_motor_mixing);
#endif
} }
static void offset_commands(int32_t offset) static void offset_commands(int32_t offset)
sw/ext/pprzlink
+1 -1
Submodule sw/ext/pprzlink updated: a3663ad2d3...a5296431f9