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AP_PiccoloCAN: expand servo status logging

This commit is contained in:
Andrew Tridgell 2022-12-02 14:17:00 +11:00
parent 29715e2a74
commit 7963ee8a13
1 changed files with 12 additions and 2 deletions
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14
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
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@ -382,14 +382,24 @@ void AP_PiccoloCAN::update()
CBSServo_Info_t &servo = _servo_info[ii];
if (servo.newTelemetry) {
union {
Servo_ErrorBits_t ebits;
uint8_t errors;
} err;
err.ebits = servo.statusA.errors;
logger->Write_ServoStatus(
timestamp,
ii,
(float) servo.statusA.position, // Servo position (represented in microsecond units)
(float) servo.statusB.current * 0.01f, // Servo force (actually servo current, 0.01A per bit)
(float) servo.statusB.speed, // Servo speed (degrees per second)
(uint8_t) abs(servo.statusB.dutyCycle) // Servo duty cycle (absolute value as it can be +/- 100%)
(uint8_t) abs(servo.statusB.dutyCycle), // Servo duty cycle (absolute value as it can be +/- 100%)
servo.statusA.command,
servo.statusB.voltage*0.01,
servo.statusB.current*0.01,
servo.statusB.temperature,
servo.statusB.temperature,
err.errors
);
servo.newTelemetry = false;