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ESC scaling fix

This commit is contained in:
Pavel Kirienko 2014-10-12 15:34:28 +04:00
parent 835bab9115
commit ced75deebe
2 changed files with 7 additions and 10 deletions
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15
src/modules/uavcan/actuators/esc.cpp
View File

@ -93,25 +93,22 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
*/
uavcan::equipment::esc::RawCommand msg;
static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
if (_armed) {
for (unsigned i = 0; i < num_outputs; i++) {
float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX;
float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max;
if (scaled < 1.0F) {
scaled = 1.0F; // Since we're armed, we don't want to stop it completely
}
if (scaled < uavcan::equipment::esc::RawCommand::CMD_MIN) {
scaled = uavcan::equipment::esc::RawCommand::CMD_MIN;
if (scaled > cmd_max) {
scaled = cmd_max;
perf_count(_perfcnt_scaling_error);
} else if (scaled > uavcan::equipment::esc::RawCommand::CMD_MAX) {
scaled = uavcan::equipment::esc::RawCommand::CMD_MAX;
perf_count(_perfcnt_scaling_error);
} else {
; // Correct value
}
msg.cmd.push_back(static_cast<unsigned>(scaled));
msg.cmd.push_back(static_cast<int>(scaled));
}
}

2
src/modules/uavcan/actuators/esc.hpp
View File

@ -73,7 +73,7 @@ private:
void orb_pub_timer_cb(const uavcan::TimerEvent &event);
static constexpr unsigned MAX_RATE_HZ = 100; ///< XXX make this configurable
static constexpr unsigned MAX_RATE_HZ = 200; ///< XXX make this configurable
static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 5;
static constexpr unsigned MAX_ESCS = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize;