Merge pull request #1128 from PX4/uavcan

Basic UAVCAN support

ROMFS/px4fmu_common/init.d/4012_quad_x_can

@@ -0,0 +1,27 @@
+#!nsh
+#
+# F450-sized quadrotor with CAN
+#
+# Lorenz Meier <lm@inf.ethz.ch>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	# TODO REVIEW
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+fi
+
+set OUTPUT_MODE uavcan_esc

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -136,6 +136,11 @@ then
 	sh /etc/init.d/4011_dji_f450
 fi
 
+if param compare SYS_AUTOSTART 4012
+then
+	sh /etc/init.d/4012_quad_x_can
+fi
+
 if param compare SYS_AUTOSTART 4020
 then
 	sh /etc/init.d/4020_hk_micro_pcb

ROMFS/px4fmu_common/init.d/rc.interface

@@ -24,6 +24,11 @@ then
 	else
 		set OUTPUT_DEV /dev/pwm_output
 	fi
+
+	if [ $OUTPUT_MODE == uavcan_esc ]
+	then
+		set OUTPUT_DEV /dev/uavcan/esc
+	fi
 	
 	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then

ROMFS/px4fmu_common/init.d/rcS

@@ -297,7 +297,17 @@ then
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
 	if [ $OUTPUT_MODE != none ]
 	then
-		if [ $OUTPUT_MODE == io ]
+		if [ $OUTPUT_MODE == uavcan_esc ]
+		then
+			if uavcan start 1
+			then
+				echo "CAN UP"
+			else
+				echo "CAN ERR"
+			fi
+		fi
+
+		if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
 		then
 			echo "[init] Use PX4IO PWM as primary output"
 			if px4io start