From 0871b7974d1929ea10a0d32215366ef512339e3a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 17 Sep 2021 11:59:23 +0200
Subject: [PATCH] uavcan_v1: add dynamic mixing support

---
 src/drivers/uavcan_v1/CMakeLists.txt |  2 ++
 src/drivers/uavcan_v1/Uavcan.cpp     |  6 +-----
 src/drivers/uavcan_v1/module.yaml    | 11 +++++++++++
 3 files changed, 14 insertions(+), 5 deletions(-)
 create mode 100644 src/drivers/uavcan_v1/module.yaml

diff --git a/src/drivers/uavcan_v1/CMakeLists.txt b/src/drivers/uavcan_v1/CMakeLists.txt
index 45b7ee4711..66cde46ad0 100644
--- a/src/drivers/uavcan_v1/CMakeLists.txt
+++ b/src/drivers/uavcan_v1/CMakeLists.txt
@@ -127,6 +127,8 @@ px4_add_module(
 		o1heap/o1heap.h
 		${LIBCANARD_DIR}/libcanard/canard.c
 		${LIBCANARD_DIR}/libcanard/canard.h
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 		git_libcanard
 		git_public_regulated_data_types
diff --git a/src/drivers/uavcan_v1/Uavcan.cpp b/src/drivers/uavcan_v1/Uavcan.cpp
index 2001edc373..ce2a27480b 100644
--- a/src/drivers/uavcan_v1/Uavcan.cpp
+++ b/src/drivers/uavcan_v1/Uavcan.cpp
@@ -115,8 +115,6 @@ UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) :
 	_pub_manager.updateParams();
 
 	_sub_manager.subscribe();
-
-	_mixing_output.mixingOutput().updateSubscriptions(false, false);
 }
 
 UavcanNode::~UavcanNode()
@@ -218,8 +216,6 @@ void UavcanNode::Run()
 		_sub_manager.updateParams();
 
 		_mixing_output.updateParams();
-
-		_mixing_output.mixingOutput().updateSubscriptions(false, false);
 	}
 
 	perf_begin(_cycle_perf);
@@ -521,6 +517,6 @@ void UavcanMixingInterface::Run()
 {
 	pthread_mutex_lock(&_node_mutex);
 	_mixing_output.update();
-	_mixing_output.updateSubscriptions(false, false);
+	_mixing_output.updateSubscriptions();
 	pthread_mutex_unlock(&_node_mutex);
 }
diff --git a/src/drivers/uavcan_v1/module.yaml b/src/drivers/uavcan_v1/module.yaml
new file mode 100644
index 0000000000..6903ed4c18
--- /dev/null
+++ b/src/drivers/uavcan_v1/module.yaml
@@ -0,0 +1,11 @@
+module_name: UAVCANv1
+actuator_output:
+  output_groups:
+    - param_prefix: UCAN1_ESC
+      channel_label: 'UAVCAN ESC'
+      standard_params:
+        min: { min: 0, max: 8191, default: 1 }
+        max: { min: 0, max: 8191, default: 8191 }
+        failsafe: { min: 0, max: 8191 }
+      num_channels: 16
+