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uavcan_v1: Add Publisher base; Gnss Publisher

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This commit is contained in:
JacobCrabill
2021-02-24 19:22:11 +01:00
committed by Lorenz Meier
parent 216a66b535
commit 4b73566b76
9 changed files with 280 additions and 33 deletions
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src/drivers/uavcan_v1/Actuators/EscClient.hpp
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@@ -61,6 +61,7 @@ public:
static constexpr unsigned MAX_RATE_HZ = 200; ///< XXX make this configurable
static constexpr uint16_t DISARMED_OUTPUT_VALUE = UINT16_MAX;
/// TODO: derive from Publisher class to handle port-ID setting via parameter
UavcanEscController(CanardInstance &ins, const CanardPortID &baseID) :
_canard_instance(ins), _base_port_id(baseID) {};