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voxl_esc: Added Mavlink tunnel UART pass-through mechanism

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Eric Katzfey
2025-02-26 18:04:34 -05:00
committed by Daniel Agar
parent d4918ea118
commit 5fb810a5ea
5 changed files with 30 additions and 1 deletions
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src/drivers/actuators/voxl_esc/voxl_esc.cpp
+14
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@@ -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;