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uavcan_v1: Fix bugs in MixingOutput / EscClient

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Also add commented-out code for use with PR-16808
(MixingOutput + output_control)
Bench-tested PWM output on a Pixracer via UAVCANv1 ESC commands from a
Pixhawk 4.
This commit is contained in:
JacobCrabill
2021-02-24 19:22:11 +01:00
committed by Lorenz Meier
parent 04ea1cf5c6
commit 935bf75b61
6 changed files with 49 additions and 21 deletions
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src/drivers/uavcan_v1/parameters.c
+1
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@@ -87,6 +87,7 @@ PARAM_DEFINE_INT32(UAVCAN_V1_BAT_MD, 0);
PARAM_DEFINE_INT32(UAVCAN_V1_BAT_ID, 4242);
// Subscription Port IDs
PARAM_DEFINE_INT32(UCAN1_ESC0_PID, 0);
PARAM_DEFINE_INT32(UCAN1_GPS0_PID, 0);
PARAM_DEFINE_INT32(UCAN1_GPS1_PID, 0);
PARAM_DEFINE_INT32(UCAN1_BMS0_PID, 0);