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uavcan_v1: Fix UavcanEscController / MixingOutput

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+ Fix bug: lack of use of CONFIG_UAVCAN_V1_ESC_CONTROLLER
+ Properly initialize _esc_controller and _mixing_output
This commit is contained in:
JacobCrabill
2022-04-12 15:57:21 -07:00
parent 369f7e9e85
commit 6230f72ce7
1 changed files with 10 additions and 0 deletions
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src/drivers/uavcan_v1/Uavcan.cpp
+10
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@@ -116,6 +116,12 @@ UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) :
_pub_manager.updateParams();
_sub_manager.subscribe();
#if CONFIG_UAVCAN_V1_ESC_CONTROLLER
_esc_controller.updateParam();
_mixing_output.updateParams();
_mixing_output.mixingOutput().updateSubscriptions(true, false);
#endif
}
UavcanNode::~UavcanNode()
@@ -216,7 +222,9 @@ void UavcanNode::Run()
_pub_manager.updateParams();
_sub_manager.updateParams();
#if CONFIG_UAVCAN_V1_ESC_CONTROLLER
_mixing_output.updateParams();
#endif
}
perf_begin(_cycle_perf);
@@ -406,7 +414,9 @@ void UavcanNode::print_info()
rxs = rxs->next;
}
#if CONFIG_UAVCAN_V1_ESC_CONTROLLER
_mixing_output.printInfo();
#endif
pthread_mutex_unlock(&_node_mutex);
}