fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-17 11:07:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

voxl_esc: Added Mavlink tunnel UART pass-through mechanism

Browse Source
This commit is contained in:
Eric Katzfey
2025-02-20 15:11:09 -08:00
committed by Daniel Agar
parent d4918ea118
commit 5fb810a5ea
5 changed files with 30 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/actuators/voxl_esc/voxl_esc.cpp
+14
View File
@@ -1334,6 +1334,20 @@ bool VoxlEsc::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
_esc_status_pub.publish(_esc_status);
uint8_t num_writes = 0;
while (_esc_serial_passthru_sub.updated() && (num_writes < 4)) {
mavlink_tunnel_s uart_passthru{};
_esc_serial_passthru_sub.copy(&uart_passthru);
if (_uart_port.write(uart_passthru.payload, uart_passthru.payload_length) != uart_passthru.payload_length) {
PX4_ERR("Failed to send mavlink tunnel data to esc");
return false;
}
num_writes++;
}
perf_count(_output_update_perf);
return true;
src/drivers/actuators/voxl_esc/voxl_esc.hpp
+2
View File
@@ -49,6 +49,7 @@
#include <uORB/topics/led_control.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/actuator_test.h>
#include <uORB/topics/mavlink_tunnel.h>
#include <px4_platform_common/Serial.hpp>
@@ -212,6 +213,7 @@ private:
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _actuator_test_sub{ORB_ID(actuator_test)};
uORB::Subscription _led_update_sub{ORB_ID(led_control)};
uORB::Subscription _esc_serial_passthru_sub{ORB_ID(esc_serial_passthru)};
uORB::Publication<actuator_outputs_s> _outputs_debug_pub{ORB_ID(actuator_outputs_debug)};
uORB::Publication<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};