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ESC command transfer priority assigned a high value. This change is not directly related to the current PR, but this change seems minor enough to be pulled in with it.

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This commit is contained in:
Pavel Kirienko 2016-02-02 01:55:42 +03:00 committed by Lorenz Meier
parent 1a64b5fa01
commit 11a31d5ecb
2 changed files with 3 additions and 0 deletions
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2
src/modules/uavcan/actuators/esc.cpp
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@ -49,6 +49,8 @@ UavcanEscController::UavcanEscController(uavcan::INode &node) :
_uavcan_sub_status(node),
_orb_timer(node)
{
_uavcan_pub_raw_cmd.setPriority(UAVCAN_COMMAND_TRANSFER_PRIORITY);
if (_perfcnt_invalid_input == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_invalid_input");
}

1
src/modules/uavcan/actuators/esc.hpp
View File

@ -78,6 +78,7 @@ private:
static constexpr unsigned MAX_RATE_HZ = 200; ///< XXX make this configurable
static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10;
static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 5; ///< 0..31, inclusive, 0 - highest, 31 - lowest
typedef uavcan::MethodBinder<UavcanEscController *,
void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>