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GZMixingInterfaceEsc: fill esc_status.actuator_function and esc_temperature

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Signed-off-by: Silvan <silvan@auterion.com>
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Silvan
2026-06-11 17:23:02 +02:00
committed by Matthias Grob
parent 31d76a763c
commit a8e1e53327
1 changed files with 2 additions and 0 deletions
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2
src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
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@@ -117,7 +117,9 @@ void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuato
for (int i = 0; i < limited_escs; i++) {
esc_status.esc[i].timestamp = hrt_absolute_time();
esc_status.esc[i].esc_rpm = actuators.velocity(i);
esc_status.esc[i].esc_temperature = 50.f; // arbitrary, fixed ESC temperature
esc_status.esc_online_flags |= 1 << i;
esc_status.esc[i].actuator_function = (uint8_t)_mixing_output.outputFunction(i);
// This is a race condition with the failure detector, for smaller models it always resolves before
// the failure detector runs, but for larger models (with more than 8 ESCs) the failure detector