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Code Issues Releases Activity

Flight/Actuator: Log the longest update of motors in ms, not ms * 10

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2467 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124 2011-01-17 02:11:05 +00:00 committed by peabody124
parent 0d567f4e4b
commit 8959007a38
2 changed files with 3 additions and 3 deletions
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4
flight/Modules/Actuator/actuator.c
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@ -216,8 +216,8 @@ static void actuatorTask(void* parameters)
// Store update time // Store update time
command.UpdateTime = 10000*dT; command.UpdateTime = 10000*dT;
if(command.UpdateTime > command.MaxUpdateTime) if(1000*dT > command.MaxUpdateTime)
command.MaxUpdateTime = command.UpdateTime; command.MaxUpdateTime = 1000*dT;
// Update output object // Update output object
ActuatorCommandSet(&command); ActuatorCommandSet(&command);

2
ground/src/shared/uavobjectdefinition/actuatorcommand.xml
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@ -3,7 +3,7 @@
<description>Contains the pulse duration sent to each of the channels. Set by @ref ActuatorModule</description> <description>Contains the pulse duration sent to each of the channels. Set by @ref ActuatorModule</description>
<field name="Channel" units="us" type="int16" elements="8"/> <field name="Channel" units="us" type="int16" elements="8"/>
<field name="UpdateTime" units="ms x 10" type="uint8" elements="1"/> <field name="UpdateTime" units="ms x 10" type="uint8" elements="1"/>
<field name="MaxUpdateTime" units="ms x 10" type="uint8" elements="1"/> <field name="MaxUpdateTime" units="ms" type="uint16" elements="1"/>
<field name="NumFailedUpdates" units="" type="uint8" elements="1"/> <field name="NumFailedUpdates" units="" type="uint8" elements="1"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>