From 027d901d8212c36a2792d95a1bd05e7c64b392aa Mon Sep 17 00:00:00 2001 From: Huibean Date: Fri, 24 Jan 2025 17:22:43 +0800 Subject: [PATCH] add dronecan negative rpm in reverse direction --- Src/DroneCAN/DroneCAN.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/Src/DroneCAN/DroneCAN.c b/Src/DroneCAN/DroneCAN.c index 32440090..2e62fcfd 100644 --- a/Src/DroneCAN/DroneCAN.c +++ b/Src/DroneCAN/DroneCAN.c @@ -1020,7 +1020,11 @@ static void send_ESCStatus(void) current.count = 0; pkt.temperature = C_TO_KELVIN(degrees_celsius); - pkt.rpm = (e_rpm * 200) / eepromBuffer.motor_poles; + if (forward) { + pkt.rpm = (e_rpm * 200) / eepromBuffer.motor_poles; + } else { + pkt.rpm = (e_rpm * 200) / eepromBuffer.motor_poles * -1; + } pkt.power_rating_pct = 0; // how do we get this? pkt.esc_index = eepromBuffer.can.esc_index;