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AP_KDECAN: use AP_Logger::Write_ESC

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This commit is contained in:
Randy Mackay 2019-02-11 16:53:22 +09:00
parent 9eaef98321
commit d8959b3400
1 changed files with 5 additions and 10 deletions
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15
libraries/AP_KDECAN/AP_KDECAN.cpp
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@ -627,16 +627,11 @@ void AP_KDECAN::update()
// log ESC telemetry data
for (uint8_t i = 0; i < _esc_max_node_id; i++) {
if (telem_buffer[i].new_data) {
struct log_Esc pkt = {
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC1_MSG+i)),
time_us : telem_buffer[i].time,
rpm : int32_t(telem_buffer[i].rpm * 60UL * 2 / num_poles * 100),
voltage : telem_buffer[i].voltage,
current : telem_buffer[i].current,
temperature : int16_t(telem_buffer[i].temp * 100U),
current_tot : 0
};
df->WriteBlock(&pkt, sizeof(pkt));
df->Write_ESC(i, telem_buffer[i].time,
int32_t(telem_buffer[i].rpm * 60UL * 2 / num_poles * 100),
telem_buffer[i].voltage,
telem_buffer[i].current,
int16_t(telem_buffer[i].temp * 100U), 0);
}
}
}