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Maximum numbers of connected ESCs in uORB and in UAVCAN expanded to 16. #12277
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Original file line number | Diff line number | Diff line change |
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@@ -1,5 +1,5 @@ | ||
uint64 timestamp # time since system start (microseconds) | ||
uint8 NUM_MOTOR_OUTPUTS = 8 | ||
uint8 NUM_MOTOR_OUTPUTS = 16 | ||
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uint32 motor_number # number of motor to spin | ||
float32 value # output power, range [0..1] |
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Why is this necessary?
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You are right. I'm not sure about the need for this check.
Perhaps the best solution would be to assign the constant value 16 (esc_status_s::CONNECTED_ESC_MAX).
But, on the other hand, I did not want to bind to a constant, which in the distant future could still change.
If you think that the constant value would be better, I will be glad to change this check to constant value.
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I think that the constexpr specifier solve all problems with CPU load and this check (CONNECTED_ESC_MAX constant presence) will be useful for further changes safety.