IOCTL for Hardpoint controller and instantiation for UavcanHardpointController as a field of UavcanNode

src/modules/uavcan/CMakeLists.txt

@@ -69,6 +69,7 @@ px4_add_module(
 
 		# Actuators
 		actuators/esc.cpp
+		actuators/hardpoint.cpp
 
 		# Sensors
 		sensors/sensor_bridge.cpp

src/modules/uavcan/uavcan_main.cpp

@@ -1107,6 +1107,12 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
+	case UAVCANIOC_HARDPOINT_SET:
+		const auto& cmd = *reinterpret_cast<uavcan::equipment::hardpoint::Command*>(arg);
+		_hardpoint_controller.set_command(cmd.hardpoint_id, cmd.command);
+
+		break;
+
 	default:
 		ret = -ENOTTY;
 		break;

src/modules/uavcan/uavcan_main.hpp

@@ -70,6 +70,11 @@
 
 // we add two to allow for actuator_direct and busevent
 #define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
+
+// no idea something to do with hardpoint controller
+static constexpr unsigned UAVCANIOCBASE = 0x7800;
+static constexpr unsigned UAVCANIOC_HARDPOINT_SET = PX4_IOC(UAVCANIOCBASE, 0x10);
+
 /**
  * A UAVCAN node.
  */