From ab486de430130fa7edd9f11915bb9c5b8b48ce71 Mon Sep 17 00:00:00 2001 From: PerFrivik Date: Mon, 9 Oct 2023 18:11:01 +0200 Subject: [PATCH] Roboclaw: Temporary fix, enabling driver to run --- .../px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover | 1 - src/drivers/roboclaw/RoboClaw.cpp | 2 +- src/drivers/roboclaw/roboclaw_params.c | 2 +- 3 files changed, 2 insertions(+), 3 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover index 53c857a16e..c8940fcc77 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover +++ b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover @@ -58,4 +58,3 @@ param set-default PWM_MAIN_DIS1 1500 param set-default PWM_MAIN_DIS2 1500 param set-default PWM_MAIN_TIM0 50 param set-default PWM_MAIN_TIM1 50 - diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp index 89c2ee783e..d0ce86c236 100644 --- a/src/drivers/roboclaw/RoboClaw.cpp +++ b/src/drivers/roboclaw/RoboClaw.cpp @@ -133,7 +133,7 @@ RoboClaw::~RoboClaw() void RoboClaw::taskMain() { // Make sure the Roboclaw is actually connected, so I don't just spam errors if it's not. - uint8_t rbuff[4]; + uint8_t rbuff[6]; int err_code = _transaction(CMD_READ_STATUS, nullptr, 0, &rbuff[0], sizeof(rbuff), false, true); if (err_code <= 0) { diff --git a/src/drivers/roboclaw/roboclaw_params.c b/src/drivers/roboclaw/roboclaw_params.c index 3f3c938c55..849d956638 100644 --- a/src/drivers/roboclaw/roboclaw_params.c +++ b/src/drivers/roboclaw/roboclaw_params.c @@ -111,4 +111,4 @@ PARAM_DEFINE_INT32(RBCLW_ADDRESS, 128); * @group Roboclaw driver * @reboot_required true */ -PARAM_DEFINE_INT32(RBCLW_BAUD, 2400); +PARAM_DEFINE_INT32(RBCLW_BAUD, 57600);