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drivers/uavcan: make firmware server available on both CAN1/CAN2 always (if enabled)

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- uavcan firmware server no longer shuts down when arming (nodes might restart in flight)
 - always handle UAVCAN parameters with or without the FW server active
 - remove legacy ESC enumeration in FW server
This commit is contained in:
Daniel Agar
2022-01-10 11:13:02 -05:00
committed by GitHub
parent d9e7315420
commit 2e2ac36cab
7 changed files with 565 additions and 1822 deletions
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ROMFS/px4fmu_common/init.d/rcS
+2 -8
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@@ -291,15 +291,9 @@ else
# Start core UAVCAN module.
if uavcan start
then
if param greater UAVCAN_ENABLE 1
if param greater UAVCAN_ENABLE 2
then
# Start UAVCAN firmware update server and dynamic node ID allocation server.
uavcan start fw
if param greater UAVCAN_ENABLE 2
then
set OUTPUT_MODE uavcan_esc
fi
set OUTPUT_MODE uavcan_esc
fi
else
tune_control play error