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AP_PiccoloCAN: Remove old ESC structure

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- No longer needed
- Now replaced with class-based implementation
This commit is contained in:
Oliver 2023-05-22 11:57:52 +10:00 committed by Andrew Tridgell
parent a246cf71f3
commit 97e58d9df9
1 changed files with 0 additions and 25 deletions
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libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
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@ -124,31 +124,6 @@ private:
AP_PiccoloCAN_Servo _servos[PICCOLO_CAN_MAX_NUM_SERVO];
AP_PiccoloCAN_ESC _escs[PICCOLO_CAN_MAX_NUM_ESC];
// Data structure for representing the state of a Velocity ESC
struct VelocityESC_Info_t {
/* Telemetry data provided in the PKT_ESC_STATUS_A packet */
uint8_t mode; //! ESC operational mode
ESC_StatusBits_t status; //! ESC status information
uint16_t setpoint; //!< ESC operational command - value depends on 'mode' available in this packet. If the ESC is disabled, data reads 0x0000. If the ESC is in open-loop PWM mode, this value is the PWM command in units of 1us, in the range 1000us to 2000us. If the ESC is in closed-loop RPM mode, this value is the RPM command in units of 1RPM
uint16_t rpm; //!< Motor speed
/* Telemetry data provided in the PKT_ESC_STATUS_B packet */
uint16_t voltage; //!< ESC Rail Voltage
int16_t current; //!< ESC Current. Current IN to the ESC is positive. Current OUT of the ESC is negative
uint16_t dutyCycle; //!< ESC Motor Duty Cycle
int8_t escTemperature; //!< ESC Logic Board Temperature
uint8_t motorTemperature; //!< ESC Motor Temperature
/* Telemetry data provided in the PKT_ESC_STATUS_C packet */
float fetTemperature; //!< ESC Phase Board Temperature
uint16_t pwmFrequency; //!< Current motor PWM frequency (10 Hz per bit)
uint16_t timingAdvance; //!< Current timing advance (0.1 degree per bit)
uint64_t last_rx_msg_timestamp = 0; //! Time of most recently received message
} _esc_ixnfo[PICCOLO_CAN_MAX_NUM_ESC];
struct CurrawongECU_Info_t {
float command;
bool newCommand;