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[rpm_actuators] actuators on a bus require indices #3089

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merged 5 commits into from
Sep 22, 2023
Merged

[rpm_actuators] actuators on a bus require indices #3089

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96d77b0
[rpm_actuators] actuators on a bus require indices
dewagter Sep 20, 2023
e5f8e2f
Fix all other ABI RPM messages
dewagter Sep 21, 2023
6ceb790
[tools] Add servo driver offset in gen_airframe
fvantienen Sep 21, 2023
c21cc01
[fix] test actuators_bebop
dewagter Sep 22, 2023
ccafc29
[test] disco fix
dewagter Sep 22, 2023
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[rpm_actuators] actuators on a bus require indices
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@dewagter
dewagter committed Sep 22, 2023
commit 96d77b007887867e1f611d63aa4e8575a8caff64
2 changes: 1 addition & 1 deletion conf/abi.xml
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Expand Up @@ -84,7 +84,7 @@
</message>

<message name="RPM" id="15">
<field name="rpm" type="uint16_t *" unit="rpm"/>
<field name="rpm" type="struct rpm_act_t *" unit="rpm"/>
<field name="num_act" type="uint8_t"/>
</message>

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6 changes: 6 additions & 0 deletions sw/airborne/modules/actuators/actuators.h
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Expand Up @@ -40,6 +40,12 @@
extern void actuators_init(void);
extern void actuators_periodic(void);

// Actuator RPM structure for ABI Message
struct rpm_act_t {
uint8_t actuator_idx;
int32_t rpm;
};

#if ACTUATORS_NB

extern uint32_t actuators_delay_time;
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10 changes: 10 additions & 0 deletions sw/airborne/modules/actuators/actuators_uavcan.c
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Expand Up @@ -215,6 +215,16 @@ static void actuators_uavcan_esc_status_cb(struct uavcan_iface_t *iface, CanardR
}
#endif
#endif

// Create struct for ABI
#ifdef SERVOS_UAVCAN1_NB
struct rpm_act_t rpm_message;
rpm_message.actuator_idx = esc_idx;
rpm_message.rpm = telem[esc_idx].rpm;

// Send ABI message
AbiSendMsgRPM(RPM_SENSOR_ID, &rpm_message, SERVOS_UAVCAN1_NB);
#endif
}

/**
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1 change: 1 addition & 0 deletions sw/airborne/modules/core/abi_common.h
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Expand Up @@ -34,6 +34,7 @@
#include "math/pprz_algebra_float.h"
#include "modules/gps/gps.h"
#include "modules/radio_control/radio_control.h"
#include "modules/actuators/actuators.h"
/* Include here headers with structure definition you may want to use with ABI
* Ex: '#include "modules/gps/gps.h"' in order to use the GpsState structure
*/
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