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Send RPM instead of ERPM on UAVCAN

This commit is contained in:
Benjamin Vedder 2022-06-17 10:42:12 +02:00
parent a00a3141c0
commit 0ee01ef34c
1 changed files with 4 additions and 3 deletions
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7
libcanard/canard_driver.c
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@ -410,13 +410,14 @@ static void sendEscStatus(CanardInstance *ins) {
uavcan_equipment_esc_Status status;
memset(&status, 0, sizeof(status));
const volatile mc_configuration *conf = mc_interface_get_configuration();
status.current = mc_interface_get_tot_current();
status.error_count = mc_interface_get_fault();
status.esc_index = app_get_configuration()->uavcan_esc_index;
status.power_rating_pct = (fabsf(mc_interface_get_tot_current()) /
mc_interface_get_configuration()->l_current_max *
mc_interface_get_configuration()->l_current_max_scale) * 100.0;
status.rpm = mc_interface_get_rpm();
conf->l_current_max * conf->l_current_max_scale) * 100.0;
status.rpm = mc_interface_get_rpm() / ((float)conf->si_motor_poles / 2.0);
status.temperature = fmaxf(mc_interface_temp_fet_filtered(), mc_interface_temp_motor_filtered()) + 273.15;
status.voltage = mc_interface_get_input_voltage_filtered();