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actuators/modalai_esc/modalai_esc: fix ESC ID to Motor remap regression (#20977)

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modaltb 2023-01-21 09:57:02 -08:00 committed by GitHub
parent a93ef657d1
commit c0e8508b01
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 8 additions and 13 deletions
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21
src/drivers/actuators/modalai_esc/modalai_esc.cpp
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@ -195,8 +195,12 @@ int ModalaiEsc::load_params(uart_esc_params_t *params, ch_assign_t *map)
ret = PX4_ERROR;
} else {
//
// Motor function IDs start at 100, Motor1 = 101, Motor2 = 102...
params->motor_map[i] = params->function_map[i] - 100;
// This motor_map array represents ESC IDs 0-3 (matching the silkscreen)
// This array will hold ESC ID to Motor ID (e.g. motor_map[0] = 1, means ESC ID0 wired to motor 1)
//
params->motor_map[i] = (params->function_map[i] - (int)OutputFunction::Motor1) + 1;
}
}
@ -209,8 +213,8 @@ int ModalaiEsc::load_params(uart_esc_params_t *params, ch_assign_t *map)
ret = PX4_ERROR;
}
/* Can map -4 to 4, 0 being disabled. Negative represents reverse direction */
map[i].number = abs(params->motor_map[i]);
// Keep tabs on motor map for turtle mode where we mix ourselves
map[i].number = params->motor_map[i];
map[i].direction = (params->direction_map[i] > 0) ? -1 : 1;
}
@ -1093,8 +1097,6 @@ bool ModalaiEsc::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS]
return false;
}
uint8_t motor_idx;
// don't use mixed values... recompute now.
if (_turtle_mode_en) {
mix_turtle_mode(outputs);
@ -1106,14 +1108,7 @@ bool ModalaiEsc::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS]
} else {
if (!_turtle_mode_en) {
motor_idx = _output_map[i].number;
if (motor_idx > 0 && motor_idx <= MODALAI_ESC_OUTPUT_CHANNELS) {
/* user defined mapping is 1-4, array is 0-3 */
motor_idx--;
_esc_chans[i].rate_req = outputs[motor_idx] * _output_map[i].direction;
}
_esc_chans[i].rate_req = outputs[i] * _output_map[i].direction;
} else {
// mapping updated in mixTurtleMode, no remap needed here, but reverse direction