CUAV CAN GPS support UAVCAN standard/indication/Button.uavcan

Co-authored-by: Daniel Agar <daniel@agar.ca>

src/drivers/uavcan/CMakeLists.txt

@@ -94,7 +94,12 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
 
 
 # generated DSDL
-set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/ardupilot" "${LIBUAVCAN_DIR}/dsdl/uavcan")
+set(DSDLC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/dsdl")
+set(DSDLC_INPUTS
+	"${DSDLC_DIR}/com"
+	"${DSDLC_DIR}/standard"
+	"${LIBUAVCAN_DIR}/dsdl/uavcan"
+)
 set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
 
 set(DSDLC_INPUT_FILES)

src/drivers/uavcan/dsdl/standard/indication/21001.Button.uavcan

@@ -0,0 +1,11 @@
+#
+# support for buttons on UAVCAN
+# while a button is being pressed this message should be sent at 10Hz
+
+uint8 BUTTON_SAFETY      = 1
+
+uint8 button
+
+# number of 0.1s units the button has been pressed for. If over 255
+# then send 255
+uint8 press_time

src/drivers/uavcan/safety_state.cpp

@@ -63,7 +63,7 @@ void UavcanSafetyState::periodic_update(const uavcan::TimerEvent &)
 	actuator_armed_s actuator_armed;
 
 	if (_actuator_armed_sub.update(&actuator_armed)) {
-		ardupilot::indication::SafetyState cmd;
+		standard::indication::SafetyState cmd;
 
 		if (actuator_armed.armed || actuator_armed.prearmed) {
 			cmd.status = cmd.STATUS_SAFETY_OFF;

src/drivers/uavcan/safety_state.hpp

@@ -42,7 +42,7 @@
 #pragma once
 
 #include <uavcan/uavcan.hpp>
-#include <ardupilot/indication/SafetyState.hpp>
+#include <standard/indication/SafetyState.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_armed.h>
 
@@ -74,7 +74,7 @@ private:
 	/*
 	 * Publish CAN Safety state led
 	 */
-	uavcan::Publisher<ardupilot::indication::SafetyState> _safety_state_pub;
+	uavcan::Publisher<standard::indication::SafetyState> _safety_state_pub;
 
 	uavcan::TimerEventForwarder<TimerCbBinder> _timer;