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drivers/cyphal: incremental fixes for fmu-v5 (#20671)

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* Cyphal: fix comparing floating-point issue

* Cyphal: fix setpoint serialization

* Cyphal: fix bug with wrong comparasion of param name and pub/sub name: remove prefix from UavcanPublisher::updateParam and UavcanDynamicPortSubscriber::updateParam and PublicationManager::updateDynamicPublications

* Cyphal: integrate UavcanEscController with PublicationManager, remove second instance of UavcanEscController from CyphalNode

* Cyphal: publish readiness with minimal frequency because according to UDRAL The drive shall enter STANDBY state automatically if the readiness subject is not updated for CONTROL_TIMEOUT

* Cyphal: increase setpoint publish rate from ~75 to 200 by removing PX4_INFO (it really significantly react on the the output rate) and changing the mixing output rate and the shedule interval

* Cyphal: restore prefix because we need it for uorb over uavcan/cyphal and add udral prefix for non uorb pub/sub

* Cyphal: fix DynamicPortSubscriber subscription: if it has multiple subscribers, it should call subscription only after updating of all port subscribers port identifiers

* Cyphal: fix SubscriptionManager: we should take care about prefix

* Cyphal: fix readiness for test motor mode

* [Cyphal] Fix dynamicsubscription, improve printinfo, enable MR-CANHUBK3 config

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Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>
This commit is contained in:
Dmitry Ponomarev
2023-02-23 10:57:50 -05:00
committed by GitHub
co-authored by Peter van der Perk
parent 013365d6c8
commit a1efafc42b
15 changed files with 163 additions and 93 deletions
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src/drivers/cyphal/CanardHandle.cpp
+2 -2
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@@ -131,7 +131,7 @@ void CanardHandle::receive()
} else if (result == 1) {
// A transfer has been received, process it.
// PX4_INFO("received Port ID: %d", receive.port_id);
// PX4_INFO("received Port ID: %d", receive.metadata.port_id);
if (subscription != nullptr) {
UavcanBaseSubscriber *sub_instance = (UavcanBaseSubscriber *)subscription->user_reference;
@@ -145,7 +145,7 @@ void CanardHandle::receive()
_canard_instance.memory_free(&_canard_instance, (void *)receive.payload);
} else {
//PX4_INFO("RX canard %d", result);
// PX4_INFO("RX canard %li\n", result);
}
}