calculate esc_rpm in rpm instead of rad per second

auto formatting on vertiq telem manager fix formatting on header file
iq-motion-control · Aug 21, 2024 · 27a531f · 27a531f
1 parent e09a5a6
commit 27a531f
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/src/drivers/actuators/vertiq_io/vertiq_serial_interface.hpp b/src/drivers/actuators/vertiq_io/vertiq_serial_interface.hpp
@@ -123,5 +123,3 @@ class VertiqSerialInterface
 
 
 };
-
-
diff --git a/src/drivers/actuators/vertiq_io/vertiq_telemetry_manager.cpp b/src/drivers/actuators/vertiq_io/vertiq_telemetry_manager.cpp
@@ -113,7 +113,8 @@ uint16_t VertiqTelemetryManager::UpdateTelemetry()
 		// also update our internal report for logging
 		_esc_status.esc[_current_module_id_target_index].esc_address  = _module_ids_in_use[_number_of_module_ids_for_telem];
 		_esc_status.esc[_current_module_id_target_index].timestamp    = time_now;
-		_esc_status.esc[_current_module_id_target_index].esc_rpm      = telem_response.speed;
+		_esc_status.esc[_current_module_id_target_index].esc_rpm      = telem_response.speed * 60.0f * M_1_PI_F *
+				0.5f; //We get back rad/s, convert to rpm
 		_esc_status.esc[_current_module_id_target_index].esc_voltage  = telem_response.voltage * 0.01;
 		_esc_status.esc[_current_module_id_target_index].esc_current  = telem_response.current * 0.01;
 		_esc_status.esc[_current_module_id_target_index].esc_power    =