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AP_MSP: fixed constrains in analog and battery MSP msgs 

need to use constrain_int32() for values that give unsigned 16 bit
values
c415-sdk
Andrew Tridgell 5 years ago
parent
5dba8ab9c8
commit
d9da06b9e4
1 changed files with 5 additions and 5 deletions
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  1. 10
      libraries/AP_MSP/AP_MSP_Telem_Backend.cpp

10
libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
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@ -761,10 +761,10 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_analog(sbuf_t *dst) @@ -761,10 +761,10 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_analog(sbuf_t *dst)
battery_state_t battery_state;
update_battery_state(battery_state);
sbuf_write_u8(dst, (uint8_t)constrain_int16(battery_state.batt_voltage_v * 10, 0, 255)); // battery voltage V to dV
sbuf_write_u16(dst, constrain_int16(battery_state.batt_consumed_mah, 0, 0xFFFF)); // milliamp hours drawn from battery
sbuf_write_u16(dst, constrain_int32(battery_state.batt_consumed_mah, 0, 0xFFFF)); // milliamp hours drawn from battery
sbuf_write_u16(dst, rssi->enabled() ? rssi->read_receiver_rssi() * 1023 : 0); // rssi 0-1 to 0-1023
sbuf_write_u16(dst, constrain_int16(battery_state.batt_current_a * 100, -0x8000, 0x7FFF)); // current A to cA (0.01 steps, range is -320A to 320A)
sbuf_write_u16(dst, constrain_int16(battery_state.batt_voltage_v * 100,0,0xFFFF)); // battery voltage in 0.01V steps
sbuf_write_u16(dst, constrain_int32(battery_state.batt_current_a * 100, -0x8000, 0x7FFF)); // current A to cA (0.01 steps, range is -320A to 320A)
sbuf_write_u16(dst, constrain_int32(battery_state.batt_voltage_v * 100,0,0xFFFF)); // battery voltage in 0.01V steps
return MSP_RESULT_ACK;
}
@ -785,12 +785,12 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_battery_state(sbuf_t *dst @@ -785,12 +785,12 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_battery_state(sbuf_t *dst
// battery state
sbuf_write_u8(dst, (uint8_t)constrain_int16(battery_state.batt_voltage_v * 10, 0, 255)); // battery voltage V to dV
sbuf_write_u16(dst, (uint16_t)MIN(battery_state.batt_consumed_mah, 0xFFFF)); // milliamp hours drawn from battery
sbuf_write_u16(dst, constrain_int16(battery_state.batt_current_a * 100, -0x8000, 0x7FFF)); // current A to cA (0.01 steps, range is -320A to 320A)
sbuf_write_u16(dst, constrain_int32(battery_state.batt_current_a * 100, -0x8000, 0x7FFF)); // current A to cA (0.01 steps, range is -320A to 320A)
// battery alerts
sbuf_write_u8(dst, battery_state.batt_state); // BATTERY: OK=0, CRITICAL=2
sbuf_write_u16(dst, constrain_int16(battery_state.batt_voltage_v * 100, 0, 0x7FFF)); // battery voltage in 0.01V steps
sbuf_write_u16(dst, constrain_int32(battery_state.batt_voltage_v * 100, 0, 0x7FFF)); // battery voltage in 0.01V steps
return MSP_RESULT_ACK;
}

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