From a8e1e53327377f7fe272379717da1c7a74ce652f Mon Sep 17 00:00:00 2001 From: Silvan Date: Thu, 11 Jun 2026 17:23:02 +0200 Subject: [PATCH] GZMixingInterfaceEsc: fill esc_status.actuator_function and esc_temperature Signed-off-by: Silvan --- src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp index 8b8e27f01a2..b92fe96a34c 100644 --- a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp +++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp @@ -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