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[rotwing_state] Redundant reading of actuator feedback (#3215)

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This commit is contained in:
Christophe De Wagter
2023-12-18 11:15:44 +01:00
committed by GitHub
parent ab18f2a6f3
commit f0d2cd3bdc
1 changed files with 4 additions and 4 deletions
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sw/airborne/modules/rot_wing_drone/rotwing_state.c
+4 -4
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@@ -613,13 +613,13 @@ static void rotwing_state_feedback_cb(uint8_t __attribute__((unused)) sender_id,
// Sanity check that index is valid
int idx = feedback_msg[i].idx;
if (feedback_msg[i].set.rpm) {
if (idx == SERVO_MOTOR_FRONT_IDX) {
if ((idx == SERVO_MOTOR_FRONT_IDX) || (idx == SERVO_BMOTOR_FRONT_IDX)) {
rotwing_state_hover_rpm[0] = feedback_msg->rpm;
} else if (idx == SERVO_MOTOR_RIGHT_IDX) {
} else if ((idx == SERVO_MOTOR_RIGHT_IDX) || (idx == SERVO_BMOTOR_RIGHT_IDX)) {
rotwing_state_hover_rpm[1] = feedback_msg->rpm;
} else if (idx == SERVO_MOTOR_BACK_IDX) {
} else if ((idx == SERVO_MOTOR_BACK_IDX) || (idx == SERVO_BMOTOR_BACK_IDX)) {
rotwing_state_hover_rpm[2] = feedback_msg->rpm;
} else if (idx == SERVO_MOTOR_LEFT_IDX) {
} else if ((idx == SERVO_MOTOR_LEFT_IDX) || (idx == SERVO_BMOTOR_LEFT_IDX)) {
rotwing_state_hover_rpm[3] = feedback_msg->rpm;
}
}