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AP_PiccoloCAN: Constrain ESC command message rate 

Use constain_int16 rather than using primitive checks
This commit is contained in:
Oliver Walters 2020-09-03 14:05:33 +10:00 committed by Andrew Tridgell
parent 21ffc0f663
commit 8aeec6c4d1
2 changed files with 2 additions and 9 deletions
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9
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
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@ -147,14 +147,7 @@ void AP_PiccoloCAN::loop()
while (true) {
// Calculate the output rate (in ms) based on the configured rate (in Hz)
if (_esc_hz < PICCOLO_MSG_RATE_HZ_MIN) {
_esc_hz = PICCOLO_MSG_RATE_HZ_MIN;
}
if (_esc_hz > PICCOLO_MSG_RATE_HZ_MAX) {
_esc_hz = PICCOLO_MSG_RATE_HZ_MAX;
}
_esc_hz = constrain_int16(_esc_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX);
escCmdRateMs = (uint16_t) ((float) 1000 / _esc_hz);

2
libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
View File

@ -138,7 +138,7 @@ private:
// Piccolo CAN parameters
AP_Int32 _esc_bm; //! ESC selection bitmask
AP_Int32 _esc_hz; //! ESC update rate (Hz)
AP_Int16 _esc_hz; //! ESC update rate (Hz)
};