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AP_DroneCAN: servo telem rename valid_types to present_types

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Iampete1 2025-01-13 20:27:52 +00:00 committed by Andrew Tridgell
parent 5aaebdf746
commit e26bda8df4
1 changed files with 16 additions and 16 deletions
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32
libraries/AP_DroneCAN/AP_DroneCAN.cpp
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@ -1393,10 +1393,10 @@ void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const
.force = msg.force,
.speed = msg.speed,
.duty_cycle = msg.power_rating_pct,
.valid_types = AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::FORCE |
AP_Servo_Telem::TelemetryData::Types::SPEED |
AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE
.present_types = AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::FORCE |
AP_Servo_Telem::TelemetryData::Types::SPEED |
AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE
};
servo_telem->update_telem_data(msg.actuator_id, telem_data);
@ -1422,13 +1422,13 @@ void AP_DroneCAN::handle_himark_servoinfo(const CanardRxTransfer& transfer, cons
.motor_temperature_cdeg = int16_t(((msg.motor_temp * 0.2) - 40) * 100),
.pcb_temperature_cdeg = int16_t(((msg.pcb_temp * 0.2) - 40) * 100),
.status_flags = msg.error_status,
.valid_types = AP_Servo_Telem::TelemetryData::Types::COMMANDED_POSITION |
AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::VOLTAGE |
AP_Servo_Telem::TelemetryData::Types::CURRENT |
AP_Servo_Telem::TelemetryData::Types::MOTOR_TEMP |
AP_Servo_Telem::TelemetryData::Types::PCB_TEMP |
AP_Servo_Telem::TelemetryData::Types::STATUS
.present_types = AP_Servo_Telem::TelemetryData::Types::COMMANDED_POSITION |
AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::VOLTAGE |
AP_Servo_Telem::TelemetryData::Types::CURRENT |
AP_Servo_Telem::TelemetryData::Types::MOTOR_TEMP |
AP_Servo_Telem::TelemetryData::Types::PCB_TEMP |
AP_Servo_Telem::TelemetryData::Types::STATUS
};
servo_telem->update_telem_data(msg.servo_id, telem_data);
@ -1449,11 +1449,11 @@ void AP_DroneCAN::handle_actuator_status_Volz(const CanardRxTransfer& transfer,
.current = msg.current * 0.025,
.duty_cycle = uint8_t(msg.motor_pwm * (100.0/255.0)),
.motor_temperature_cdeg = int16_t((msg.motor_temperature - 50) * 100),
.valid_types = AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::VOLTAGE |
AP_Servo_Telem::TelemetryData::Types::CURRENT |
AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE |
AP_Servo_Telem::TelemetryData::Types::MOTOR_TEMP
.present_types = AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::VOLTAGE |
AP_Servo_Telem::TelemetryData::Types::CURRENT |
AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE |
AP_Servo_Telem::TelemetryData::Types::MOTOR_TEMP
};
servo_telem->update_telem_data(msg.actuator_id, telem_data);