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AP_Periph: fixed HWESC RPM and current readings

This commit is contained in:
Andrew Tridgell 2020-03-10 09:36:59 +11:00
parent 49314b2b86
commit 998f93c7c9
3 changed files with 9 additions and 9 deletions
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2
Tools/AP_Periph/can.cpp
View File

@ -1119,7 +1119,7 @@ void AP_Periph_FW::hwesc_telem_update()
pkt.current = t.current;
pkt.temperature = t.temperature;
pkt.rpm = t.rpm;
pkt.power_rating_pct = (t.load & 0x7F);
pkt.power_rating_pct = t.phase_current;
fix_float16(pkt.voltage);
fix_float16(pkt.current);

6
Tools/AP_Periph/hwing_esc.cpp
View File

@ -103,12 +103,12 @@ bool HWESC_Telem::parse_packet(void)
decoded.counter = be32toh(pkt.counter);
decoded.throttle_req = be16toh(pkt.throttle_req);
decoded.throttle = be16toh(pkt.throttle);
decoded.rpm = be16toh(pkt.rpm);
decoded.rpm = be16toh(pkt.rpm) * 5.0 / 7.0; // scale from eRPM to RPM
decoded.voltage = be16toh(pkt.voltage) * 0.1;
decoded.load = int16_t(be16toh(pkt.load));
decoded.phase_current = int16_t(be16toh(pkt.phase_current)) * 0.01;
decoded.current = int16_t(be16toh(pkt.current)) * 0.01;
decoded.temperature = be16toh(pkt.temperature);
decoded.unknown = be16toh(pkt.unknown);
decoded.status = be16toh(pkt.status);
return true;
}

10
Tools/AP_Periph/hwing_esc.h
View File

@ -21,12 +21,12 @@ public:
uint32_t counter;
uint16_t throttle_req;
uint16_t throttle;
uint16_t rpm;
float rpm;
float voltage;
uint16_t load;
float phase_current;
float current;
uint16_t temperature;
uint16_t unknown;
uint16_t status;
};
const HWESC &get_telem(void) {
@ -45,9 +45,9 @@ private:
uint16_t rpm;
uint16_t voltage;
int16_t current;
int16_t load;
int16_t phase_current;
uint16_t temperature;
uint16_t unknown;
uint16_t status;
uint16_t crc;
} pkt;