RawCommand values range

Support Sapog motor control
1

Hi! I see RawCommand for Orel 20 Sapog fw looks the same as Voltage control mode for Telega fw. And as described in reference for Sapog it supposed to be in range 0% - 100%. Actually I see it varies 0 - 8000 in my setup with Pixhawk (probably full range 0 - 10000 though). Did not found whether this fixed point scaling is documented somewhere. So this is something like 0 is 0 duty cycle and 10000 is 100% duty cycle for inverter?

This stuff works the same way on both fw Sapog and Telega?

2

This stuff works the same way on both fw Sapog and Telega?

Yes.

Did not found whether this fixed point scaling is documented somewhere.

It is documented in the UAVCAN specification.

Actually I see it varies 0 - 8000 in my setup with Pixhawk (probably full range 0 - 10000 though).

The range is [-8192, 8191]