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@ -337,7 +337,7 @@ void AP_PiccoloCAN::update()
@@ -337,7 +337,7 @@ void AP_PiccoloCAN::update()
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timestamp, |
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ii, |
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(float) servo.statusA.position, // Servo position (represented in microsecond units)
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(float) servo.statusB.current / 100.0f, // Servo force (actually servo current, 0.01A per bit)
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(float) servo.statusB.current * 0.01f, // Servo force (actually servo current, 0.01A per bit)
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(float) servo.statusB.speed, // Servo speed (degrees per second)
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(uint8_t) abs(servo.statusB.dutyCycle) // Servo duty cycle (absolute value as it can be +/- 100%)
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); |
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