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uavcan: implement OpenDroneID BasicID

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Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes
2024-09-02 16:20:10 +12:00
parent 87a63e75be
commit cf19764d75
7 changed files with 173 additions and 1 deletions
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src/drivers/uavcan/uavcan_main.cpp
+13
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@@ -96,6 +96,9 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
#if defined(CONFIG_UAVCAN_SAFETY_STATE_CONTROLLER)
_safety_state_controller(_node),
#endif
#if defined(CONFIG_UAVCAN_REMOTEID_CONTROLLER)
_remoteid_controller(_node),
#endif
#if defined(CONFIG_UAVCAN_RGB_CONTROLLER)
_rgbled_controller(_node),
#endif
@@ -558,6 +561,16 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
return ret;
}
#if defined(CONFIG_UAVCAN_REMOTEID_CONTROLLER)
ret = _remoteid_controller.init();
if (ret < 0) {
return ret;
}
#endif
#if defined(CONFIG_UAVCAN_RGB_CONTROLLER)
ret = _rgbled_controller.init();