Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 15:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_PiccoloCAN: Change from division to multiplication

Browse Source
This commit is contained in:
murata 2022-03-12 02:37:37 +09:00 committed by Andrew Tridgell
parent 4eca7383b8
commit af3fbac118
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
View File

@ -337,7 +337,7 @@ void AP_PiccoloCAN::update()
timestamp,
ii,
(float) servo.statusA.position, // Servo position (represented in microsecond units)
(float) servo.statusB.current / 100.0f, // Servo force (actually servo current, 0.01A per bit)
(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%)
);