Initial Cannode PWM Support (#19748)

* Add uavcannode esc/servo pwm control pipeline
* Remove cannode rc.interface with mixer purge
* Cannode add Kconfig options to reduce flash usage

boards/ark/can-flow/default.px4board

@@ -13,6 +13,8 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set

boards/ark/can-gps/default.px4board

@@ -13,6 +13,13 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/ark/can-rtk-gps/default.px4board

@@ -13,6 +13,14 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/ark/cannode/default.px4board

@@ -9,6 +9,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -17,10 +18,28 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_ARMING_STATUS=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
+CONFIG_UAVCANNODE_ESC_STATUS=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
+CONFIG_UAVCANNODE_RAW_AIR_DATA=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y

boards/ark/cannode/init/rc.board_defaults

@@ -2,6 +2,11 @@
 #
 # board specific defaults
 #------------------------------------------------------------------------------
+
+param set-default CANNODE_ARM_STAT 1
+param set-default CANNODE_SUB_ESC 1
+param set-default CANNODE_SUB_SERV 1
+
 pwm_out start
 
-control_allocator start
+dshot start

boards/cuav/can-gps-v1/default.px4board

@@ -14,6 +14,13 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_AIR_DATA is not set

boards/freefly/can-rtk-gps/default.px4board

@@ -11,6 +11,14 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/holybro/can-gps-v1/default.px4board

@@ -13,6 +13,13 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/matek/gnss-m9n-f4/default.px4board

@@ -12,6 +12,14 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/nxp/ucans32k146/default.px4board

@@ -13,6 +13,21 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_ARMING_STATUS=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
+CONFIG_UAVCANNODE_ESC_STATUS=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
+CONFIG_UAVCANNODE_RAW_AIR_DATA=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

src/drivers/uavcan/CMakeLists.txt

@@ -142,6 +142,8 @@ px4_add_module(
 		${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
 		${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
 	SRCS
+		arming_status.cpp
+		arming_status.hpp
 		beep.cpp
 		beep.hpp
 		rgbled.cpp

src/drivers/uavcan/actuators/esc.cpp

@@ -50,7 +50,7 @@ UavcanEscController::UavcanEscController(uavcan::INode &node) :
 	_uavcan_pub_raw_cmd(node),
 	_uavcan_sub_status(node)
 {
-	_uavcan_pub_raw_cmd.setPriority(UAVCAN_COMMAND_TRANSFER_PRIORITY);
+	_uavcan_pub_raw_cmd.setPriority(uavcan::TransferPriority::NumericallyMin); // Highest priority
 }
 
 int

src/drivers/uavcan/actuators/esc.hpp

@@ -91,8 +91,6 @@ private:
 	 */
 	uint8_t check_escs_status();
 
-	static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 5;	///< 0..31, inclusive, 0 - highest, 31 - lowest
-
 	typedef uavcan::MethodBinder<UavcanEscController *,
 		void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> StatusCbBinder;
 

src/drivers/uavcan/arming_status.cpp

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file arming_status.cpp
+ *
+ * @author Alex Klimaj <alex@arkelectron.com>
+ */
+
+#include "arming_status.hpp"
+
+UavcanArmingStatus::UavcanArmingStatus(uavcan::INode &node) :
+	_arming_status_pub(node),
+	_timer(node)
+{
+	_arming_status_pub.setPriority(uavcan::TransferPriority::Default);
+}
+
+int UavcanArmingStatus::init()
+{
+	/*
+	 * Setup timer and call back function for periodic updates
+	 */
+	if (!_timer.isRunning()) {
+		_timer.setCallback(TimerCbBinder(this, &UavcanArmingStatus::periodic_update));
+		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
+	}
+
+	return 0;
+}
+
+void UavcanArmingStatus::periodic_update(const uavcan::TimerEvent &)
+{
+	actuator_armed_s actuator_armed;
+
+	if (_actuator_armed_sub.update(&actuator_armed)) {
+		uavcan::equipment::safety::ArmingStatus cmd;
+
+		if (actuator_armed.lockdown || actuator_armed.manual_lockdown) {
+			cmd.status = cmd.STATUS_DISARMED;
+
+		} else if (actuator_armed.armed || actuator_armed.prearmed) {
+			cmd.status = cmd.STATUS_FULLY_ARMED;
+
+		} else {
+			cmd.status = cmd.STATUS_DISARMED;
+		}
+
+		(void)_arming_status_pub.broadcast(cmd);
+	}
+}

src/drivers/uavcan/arming_status.hpp

@@ -0,0 +1,83 @@
+/****************************************************************************
+*
+*   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in
+*    the documentation and/or other materials provided with the
+*    distribution.
+* 3. Neither the name PX4 nor the names of its contributors may be
+*    used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+****************************************************************************/
+
+/**
+ * @file arming_status.hpp
+ *
+ * @author Alex Klimaj <alex@arkelectron.com>
+ *
+ * @brief Publish actuator_armed to CAN ArmingStatus message
+ */
+
+#pragma once
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan/equipment/safety/ArmingStatus.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/actuator_armed.h>
+
+
+class UavcanArmingStatus
+{
+public:
+	UavcanArmingStatus(uavcan::INode &node);
+
+	/*
+	 * setup periodic updater
+	 */
+	int init();
+
+private:
+	/*
+	 * Max update rate to avoid exessive bus traffic
+	 */
+	static constexpr unsigned MAX_RATE_HZ = 10;
+
+	/*
+	 * Setup timer and call back function for periodic updates
+	 */
+	void periodic_update(const uavcan::TimerEvent &);
+
+	typedef uavcan::MethodBinder<UavcanArmingStatus *, void (UavcanArmingStatus::*)(const uavcan::TimerEvent &)>
+	TimerCbBinder;
+
+	/*
+	 * Publish CAN ArmingState
+	 */
+	uavcan::Publisher<uavcan::equipment::safety::ArmingStatus> _arming_status_pub;
+
+	uavcan::TimerEventForwarder<TimerCbBinder> _timer;
+
+	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
+
+};

src/drivers/uavcan/uavcan_main.cpp

@@ -80,6 +80,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan),
 	ModuleParams(nullptr),
 	_node(can_driver, system_clock, _pool_allocator),
+	_arming_status_controller(_node),
 	_beep_controller(_node),
 	_esc_controller(_node),
 	_servo_controller(_node),
@@ -478,7 +479,21 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
 
 	fill_node_info();
 
-	int ret = _beep_controller.init();
+	int ret;
+
+	// UAVCAN_PUB_ARM
+	int32_t uavcan_pub_arm = 0;
+	param_get(param_find("UAVCAN_PUB_ARM"), &uavcan_pub_arm);
+
+	if (uavcan_pub_arm == 1) {
+		ret = _arming_status_controller.init();
+
+		if (ret < 0) {
+			return ret;
+		}
+	}
+
+	ret = _beep_controller.init();
 
 	if (ret < 0) {
 		return ret;

src/drivers/uavcan/uavcan_main.hpp

@@ -50,6 +50,7 @@
 #include "actuators/hardpoint.hpp"
 #include "actuators/servo.hpp"
 #include "allocator.hpp"
+#include "arming_status.hpp"
 #include "beep.hpp"
 #include "logmessage.hpp"
 #include "rgbled.hpp"
@@ -224,6 +225,7 @@ private:
 	uavcan::Node<>			_node;				///< library instance
 	pthread_mutex_t			_node_mutex;
 
+	UavcanArmingStatus		_arming_status_controller;
 	UavcanBeepController		_beep_controller;
 	UavcanEscController		_esc_controller;
 	UavcanServoController		_servo_controller;

src/drivers/uavcan/uavcan_params.c

@@ -185,6 +185,18 @@ PARAM_DEFINE_INT32(UAVCAN_LGT_NAV, 3);
  */
 PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);
 
+/**
+ * publish Arming Status stream
+ *
+ * Enable UAVCAN Arming Status stream publication
+ *  uavcan::equipment::safety::ArmingStatus
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_PUB_ARM, 0);
+
 /**
  * publish RTCM stream
  *

src/drivers/uavcannode/Kconfig

@@ -2,4 +2,75 @@ menuconfig DRIVERS_UAVCANNODE
 	bool "uavcannode"
 	default n
 	---help---
-		Enable support for uavcannode
+		Enable support for uavcannode
+
+if DRIVERS_UAVCANNODE
+    config UAVCANNODE_ARMING_STATUS
+        bool "Include arming status"
+        default n
+
+    config UAVCANNODE_BATTERY_INFO
+        bool "Include battery info"
+        default n
+
+    config UAVCANNODE_BEEP_COMMAND
+        bool "Include beep command"
+        default n
+
+    config UAVCANNODE_ESC_RAW_COMMAND
+        bool "Include ESC raw command"
+        default n
+
+    config UAVCANNODE_ESC_STATUS
+        bool "Include ESC status"
+        default n
+
+    config UAVCANNODE_FLOW_MEASUREMENT
+        bool "Include flow measurement"
+        default n
+
+    config UAVCANNODE_GNSS_FIX
+        bool "Include GNSS fix"
+        default n
+
+    config UAVCANNODE_HYDROMETER_MEASUREMENT
+        bool "Include hydrometer measurement"
+        default n
+
+    config UAVCANNODE_LIGHTS_COMMAND
+        bool "Include lights command"
+        default n
+
+    config UAVCANNODE_MAGNETIC_FIELD_STRENGTH
+        bool "Include magnetic field strength"
+        default n
+
+    config UAVCANNODE_RANGE_SENSOR_MEASUREMENT
+        bool "Include range sensor measurement"
+        default n
+
+    config UAVCANNODE_RAW_AIR_DATA
+        bool "Include raw air data"
+        default n
+
+    config UAVCANNODE_RTK_DATA
+        bool "Include RTK data"
+        default n
+
+    config UAVCANNODE_SAFETY_BUTTON
+        bool "Include safety button"
+        default n
+
+    config UAVCANNODE_SERVO_ARRAY_COMMAND
+        bool "Include servo array command"
+        default n
+
+    config UAVCANNODE_STATIC_PRESSURE
+        bool "Include static pressure"
+        default n
+
+    config UAVCANNODE_STATIC_TEMPERATURE
+        bool "Include static temperature"
+        default n
+
+endif #DRIVERS_UAVCANNODE

src/drivers/uavcannode/Publishers/ESCStatus.hpp

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UavcanPublisherBase.hpp"
+
+#include <uavcan/equipment/esc/Status.hpp>
+
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/esc_status.h>
+
+namespace uavcannode
+{
+
+class ESCStatus :
+	public UavcanPublisherBase,
+	private uORB::SubscriptionCallbackWorkItem,
+	private uavcan::Publisher<uavcan::equipment::esc::Status>
+{
+public:
+	ESCStatus(px4::WorkItem *work_item, uavcan::INode &node) :
+		UavcanPublisherBase(uavcan::equipment::esc::Status::DefaultDataTypeID),
+		uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(esc_status)),
+		uavcan::Publisher<uavcan::equipment::esc::Status>(node)
+	{
+		this->setPriority(uavcan::TransferPriority::MiddleLower);
+	}
+
+	void PrintInfo() override
+	{
+		if (uORB::SubscriptionCallbackWorkItem::advertised()) {
+			printf("\t%s -> %s:%d\n",
+			       uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
+			       uavcan::equipment::esc::Status::getDataTypeFullName(),
+			       uavcan::equipment::esc::Status::DefaultDataTypeID);
+		}
+	}
+
+	void BroadcastAnyUpdates() override
+	{
+		// esc_status -> uavcan::equipment::esc::Status
+		esc_status_s esc_status;
+
+		if (uORB::SubscriptionCallbackWorkItem::update(&esc_status)) {
+
+			for (size_t i = 0; i < esc_status.esc_count; i++) {
+				uavcan::equipment::esc::Status status{};
+
+				status.esc_index = i;
+				status.error_count = esc_status.esc[i].esc_errorcount;
+				status.voltage = esc_status.esc[i].esc_voltage;
+				status.current = esc_status.esc[i].esc_current;
+				status.temperature = esc_status.esc[i].esc_temperature;
+				status.rpm = esc_status.esc[i].esc_rpm;
+				//status.power_rating_pct = NAN;
+
+				uavcan::Publisher<uavcan::equipment::esc::Status>::broadcast(status);
+
+				// ensure callback is registered
+				uORB::SubscriptionCallbackWorkItem::registerCallback();
+			}
+		}
+	}
+};
+} // namespace uavcan

src/drivers/uavcannode/Subscribers/ArmingStatus.hpp

@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UavcanSubscriberBase.hpp"
+
+#include <uavcan/equipment/safety/ArmingStatus.hpp>
+
+#include <uORB/Publication.hpp>
+#include <uORB/topics/actuator_armed.h>
+
+namespace uavcannode
+{
+
+class ArmingStatus;
+
+typedef uavcan::MethodBinder<ArmingStatus *,
+	void (ArmingStatus::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::safety::ArmingStatus>&)>
+	ArmingStatusBinder;
+
+class ArmingStatus :
+	public UavcanSubscriberBase,
+	private uavcan::Subscriber<uavcan::equipment::safety::ArmingStatus, ArmingStatusBinder>
+{
+public:
+	ArmingStatus(uavcan::INode &node) :
+		UavcanSubscriberBase(uavcan::equipment::safety::ArmingStatus::DefaultDataTypeID),
+		uavcan::Subscriber<uavcan::equipment::safety::ArmingStatus, ArmingStatusBinder>(node)
+	{}
+
+	bool init()
+	{
+		if (start(ArmingStatusBinder(this, &ArmingStatus::callback)) < 0) {
+			PX4_ERR("uavcan::equipment::safety::ArmingStatus subscription failed");
+			return false;
+		}
+
+		return true;
+	}
+
+	void PrintInfo() const override
+	{
+		printf("\t%s:%d -> %s\n",
+		       uavcan::equipment::safety::ArmingStatus::getDataTypeFullName(),
+		       uavcan::equipment::safety::ArmingStatus::DefaultDataTypeID,
+		       _actuator_armed_pub.get_topic()->o_name);
+	}
+
+private:
+	void callback(const uavcan::ReceivedDataStructure<uavcan::equipment::safety::ArmingStatus> &msg)
+	{
+		actuator_armed_s actuator_armed{};
+
+		if (msg.status) {
+			actuator_armed.armed = true;
+
+		} else {
+			actuator_armed.armed = false;
+		}
+
+		actuator_armed.timestamp = hrt_absolute_time();
+		_actuator_armed_pub.publish(actuator_armed);
+	}
+
+	uORB::Publication<actuator_armed_s> _actuator_armed_pub{ORB_ID(actuator_armed)};
+};
+} // namespace uavcannode

src/drivers/uavcannode/Subscribers/ESCRawCommand.hpp

@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UavcanSubscriberBase.hpp"
+
+#include <uavcan/equipment/esc/RawCommand.hpp>
+
+#include <uORB/Publication.hpp>
+#include <uORB/topics/actuator_motors.h>
+
+namespace uavcannode
+{
+
+class ESCRawCommand;
+
+typedef uavcan::MethodBinder<ESCRawCommand *,
+	void (ESCRawCommand::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RawCommand>&)>
+	ESCRawCommandBinder;
+
+class ESCRawCommand :
+	public UavcanSubscriberBase,
+	private uavcan::Subscriber<uavcan::equipment::esc::RawCommand, ESCRawCommandBinder>
+{
+public:
+	ESCRawCommand(uavcan::INode &node) :
+		UavcanSubscriberBase(uavcan::equipment::esc::RawCommand::DefaultDataTypeID),
+		uavcan::Subscriber<uavcan::equipment::esc::RawCommand, ESCRawCommandBinder>(node)
+	{}
+
+	bool init()
+	{
+		if (start(ESCRawCommandBinder(this, &ESCRawCommand::callback)) < 0) {
+			PX4_ERR("uavcan::equipment::esc::RawCommand subscription failed");
+			return false;
+		}
+
+		return true;
+	}
+
+	void PrintInfo() const override
+	{
+		printf("\t%s:%d -> %s\n",
+		       uavcan::equipment::esc::RawCommand::getDataTypeFullName(),
+		       uavcan::equipment::esc::RawCommand::DefaultDataTypeID,
+		       _actuator_motors_pub.get_topic()->o_name);
+	}
+
+private:
+	void callback(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RawCommand> &msg)
+	{
+
+		actuator_motors_s actuator_motors;
+
+		actuator_motors.timestamp = hrt_absolute_time();
+		actuator_motors.timestamp_sample = actuator_motors.timestamp;
+
+		for (unsigned i = 0; i < msg.cmd.size(); i++) {
+			if (i >= actuator_motors_s::NUM_CONTROLS) {
+				break;
+			}
+
+			// Normalized to -8192, 8191 in uavcan. actuator_motors is -1 to 1
+			actuator_motors.control[i] = msg.cmd[i] / 8192.f;
+
+		}
+
+		_actuator_motors_pub.publish(actuator_motors);
+
+	}
+
+	uORB::Publication<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
+};
+} // namespace uavcannode

src/drivers/uavcannode/Subscribers/ServoArrayCommand.hpp

@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UavcanSubscriberBase.hpp"
+
+#include <uavcan/equipment/actuator/ArrayCommand.hpp>
+
+#include <uORB/Publication.hpp>
+#include <uORB/topics/actuator_servos.h>
+
+namespace uavcannode
+{
+
+class ServoArrayCommand;
+
+typedef uavcan::MethodBinder<ServoArrayCommand *,
+	void (ServoArrayCommand::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::actuator::ArrayCommand>&)>
+	ServoArrayCommandBinder;
+
+class ServoArrayCommand :
+	public UavcanSubscriberBase,
+	private uavcan::Subscriber<uavcan::equipment::actuator::ArrayCommand, ServoArrayCommandBinder>
+{
+public:
+	ServoArrayCommand(uavcan::INode &node) :
+		UavcanSubscriberBase(uavcan::equipment::actuator::ArrayCommand::DefaultDataTypeID),
+		uavcan::Subscriber<uavcan::equipment::actuator::ArrayCommand, ServoArrayCommandBinder>(node)
+	{}
+
+	bool init()
+	{
+		if (start(ServoArrayCommandBinder(this, &ServoArrayCommand::callback)) < 0) {
+			PX4_ERR("uavcan::equipment::actuator::ArrayCommand subscription failed");
+			return false;
+		}
+
+		return true;
+	}
+
+	void PrintInfo() const override
+	{
+		printf("\t%s:%d -> %s\n",
+		       uavcan::equipment::actuator::ArrayCommand::getDataTypeFullName(),
+		       uavcan::equipment::actuator::ArrayCommand::DefaultDataTypeID,
+		       _actuator_servos_pub.get_topic()->o_name);
+	}
+
+private:
+	void callback(const uavcan::ReceivedDataStructure<uavcan::equipment::actuator::ArrayCommand> &msg)
+	{
+
+		actuator_servos_s actuator_servos;
+
+		actuator_servos.timestamp = hrt_absolute_time();
+		actuator_servos.timestamp_sample = actuator_servos.timestamp;
+
+		for (unsigned i = 0; i < msg.commands.size(); i++) {
+			if (i >= actuator_servos_s::NUM_CONTROLS) {
+				break;
+			}
+
+			if (msg.commands[i].command_type == uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS) {
+				actuator_servos.control[i] = msg.commands[i].command_value; // -1.0 to +1.0
+
+			} else {
+				actuator_servos.control[i] = NAN; // disarmed
+			}
+		}
+
+		_actuator_servos_pub.publish(actuator_servos);
+
+	}
+
+	uORB::Publication<actuator_servos_s> _actuator_servos_pub{ORB_ID(actuator_servos)};
+};
+} // namespace uavcannode

src/drivers/uavcannode/UavcanNode.cpp

@@ -40,23 +40,77 @@
 #include <lib/geo/geo.h>
 #include <lib/version/version.h>
 
+#if defined(CONFIG_UAVCANNODE_BATTERY_INFO)
 #include "Publishers/BatteryInfo.hpp"
-#include "Publishers/FlowMeasurement.hpp"
-#include "Publishers/HygrometerMeasurement.hpp"
-#include "Publishers/GnssFix2.hpp"
-#include "Publishers/MagneticFieldStrength2.hpp"
-#include "Publishers/MovingBaselineData.hpp"
-#include "Publishers/RangeSensorMeasurement.hpp"
-#include "Publishers/RawAirData.hpp"
-#include "Publishers/RelPosHeading.hpp"
-#include "Publishers/SafetyButton.hpp"
-#include "Publishers/StaticPressure.hpp"
-#include "Publishers/StaticTemperature.hpp"
+#endif // CONFIG_UAVCANNODE_BATTERY_INFO
 
+#if defined(CONFIG_UAVCANNODE_ESC_STATUS)
+#include "Publishers/ESCStatus.hpp"
+#endif // CONFIG_UAVCANNODE_ESC_STATUS
+
+#if defined(CONFIG_UAVCANNODE_FLOW_MEASUREMENT)
+#include "Publishers/FlowMeasurement.hpp"
+#endif // CONFIG_UAVCANNODE_FLOW_MEASUREMENT
+
+#if defined(CONFIG_UAVCANNODE_HYDROMETER_MEASUREMENT)
+#include "Publishers/HygrometerMeasurement.hpp"
+#endif // CONFIG_UAVCANNODE_HYDROMETER_MEASUREMENT
+
+#if defined(CONFIG_UAVCANNODE_GNSS_FIX)
+#include "Publishers/GnssFix2.hpp"
+#endif // CONFIG_UAVCANNODE_GNSS_FIX
+
+#if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH)
+#include "Publishers/MagneticFieldStrength2.hpp"
+#endif // CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH
+
+#if defined(CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT)
+#include "Publishers/RangeSensorMeasurement.hpp"
+#endif // CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT
+
+#if defined(CONFIG_UAVCANNODE_RAW_AIR_DATA)
+#include "Publishers/RawAirData.hpp"
+#endif // CONFIG_UAVCANNODE_RAW_AIR_DATA
+
+#if defined(CONFIG_UAVCANNODE_SAFETY_BUTTON)
+#include "Publishers/SafetyButton.hpp"
+#endif // CONFIG_UAVCANNODE_SAFETY_BUTTON
+
+#if defined(CONFIG_UAVCANNODE_STATIC_PRESSURE)
+#include "Publishers/StaticPressure.hpp"
+#endif // CONFIG_UAVCANNODE_STATIC_PRESSURE
+
+#if defined(CONFIG_UAVCANNODE_STATIC_TEMPERATURE)
+#include "Publishers/StaticTemperature.hpp"
+#endif // CONFIG_UAVCANNODE_STATIC_TEMPERATURE
+
+#if defined(CONFIG_UAVCANNODE_ARMING_STATUS)
+#include "Subscribers/ArmingStatus.hpp"
+#endif // CONFIG_UAVCANNODE_ARMING_STATUS
+
+#if defined(CONFIG_UAVCANNODE_BEEP_COMMAND)
 #include "Subscribers/BeepCommand.hpp"
+#endif // CONFIG_UAVCANNODE_BEEP_COMMAND
+
+#if defined(CONFIG_UAVCANNODE_ESC_RAW_COMMAND)
+#include "Subscribers/ESCRawCommand.hpp"
+#endif // CONFIG_UAVCANNODE_ESC_RAW_COMMAND
+
+#if defined(CONFIG_UAVCANNODE_LIGHTS_COMMAND)
 #include "Subscribers/LightsCommand.hpp"
+#endif // CONFIG_UAVCANNODE_LIGHTS_COMMAND
+
+#if defined(CONFIG_UAVCANNODE_RTK_DATA)
+#include "Publishers/RelPosHeading.hpp"
+#include "Publishers/MovingBaselineData.hpp"
+
 #include "Subscribers/MovingBaselineData.hpp"
 #include "Subscribers/RTCMStream.hpp"
+#endif // CONFIG_UAVCANNODE_RTK_DATA
+
+#if defined(CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND)
+#include "Subscribers/ServoArrayCommand.hpp"
+#endif // CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND
 
 using namespace time_literals;
 
@@ -294,14 +348,39 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
 		return PX4_ERROR;
 	}
 
-	// TODO: make runtime (and build time?) configurable
+#if defined(CONFIG_UAVCANNODE_BATTERY_INFO)
 	_publisher_list.add(new BatteryInfo(this, _node));
+#endif // CONFIG_UAVCANNODE_BATTERY_INFO
+
+#if defined(CONFIG_UAVCANNODE_ESC_STATUS)
+	_publisher_list.add(new ESCStatus(this, _node));
+#endif // CONFIG_UAVCANNODE_ESC_STATUS
+
+#if defined(CONFIG_UAVCANNODE_FLOW_MEASUREMENT)
 	_publisher_list.add(new FlowMeasurement(this, _node));
+#endif // CONFIG_UAVCANNODE_FLOW_MEASUREMENT
+
+#if defined(CONFIG_UAVCANNODE_HYDROMETER_MEASUREMENT)
 	_publisher_list.add(new HygrometerMeasurement(this, _node));
+#endif // CONFIG_UAVCANNODE_HYDROMETER_MEASUREMENT
+
+#if defined(CONFIG_UAVCANNODE_GNSS_FIX)
 	_publisher_list.add(new GnssFix2(this, _node));
+#endif // CONFIG_UAVCANNODE_GNSS_FIX
+
+#if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH)
 	_publisher_list.add(new MagneticFieldStrength2(this, _node));
+#endif // CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH
+
+#if defined(CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT)
 	_publisher_list.add(new RangeSensorMeasurement(this, _node));
+#endif // CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT
+
+#if defined(CONFIG_UAVCANNODE_RAW_AIR_DATA)
 	_publisher_list.add(new RawAirData(this, _node));
+#endif // CONFIG_UAVCANNODE_RAW_AIR_DATA
+
+#if defined(CONFIG_UAVCANNODE_RTK_DATA)
 	_publisher_list.add(new RelPosHeadingPub(this, _node));
 
 	int32_t cannode_pub_mbd = 0;
@@ -311,13 +390,37 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
 		_publisher_list.add(new MovingBaselineDataPub(this, _node));
 	}
 
+#endif // CONFIG_UAVCANNODE_RTK_DATA
+
+#if defined(CONFIG_UAVCANNODE_SAFETY_BUTTON)
 	_publisher_list.add(new SafetyButton(this, _node));
+#endif // CONFIG_UAVCANNODE_SAFETY_BUTTON
+
+#if defined(CONFIG_UAVCANNODE_STATIC_PRESSURE)
 	_publisher_list.add(new StaticPressure(this, _node));
+#endif // CONFIG_UAVCANNODE_STATIC_PRESSURE
+
+#if defined(CONFIG_UAVCANNODE_STATIC_TEMPERATURE)
 	_publisher_list.add(new StaticTemperature(this, _node));
+#endif // CONFIG_UAVCANNODE_STATIC_TEMPERATURE
 
+#if defined(CONFIG_UAVCANNODE_ARMING_STATUS)
+	_subscriber_list.add(new ArmingStatus(_node));
+#endif // CONFIG_UAVCANNODE_ARMING_STATUS
+
+#if defined(CONFIG_UAVCANNODE_BEEP_COMMAND)
 	_subscriber_list.add(new BeepCommand(_node));
-	_subscriber_list.add(new LightsCommand(_node));
+#endif // CONFIG_UAVCANNODE_BEEP_COMMAND
 
+#if defined(CONFIG_UAVCANNODE_ESC_RAW_COMMAND)
+	_subscriber_list.add(new ESCRawCommand(_node));
+#endif // CONFIG_UAVCANNODE_ESC_RAW_COMMAND
+
+#if defined(CONFIG_UAVCANNODE_LIGHTS_COMMAND)
+	_subscriber_list.add(new LightsCommand(_node));
+#endif // CONFIG_UAVCANNODE_LIGHTS_COMMAND
+
+#if defined(CONFIG_UAVCANNODE_RTK_DATA)
 	int32_t cannode_sub_mbd = 0;
 	param_get(param_find("CANNODE_SUB_MBD"), &cannode_sub_mbd);
 
@@ -332,6 +435,18 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
 		_subscriber_list.add(new RTCMStream(_node));
 	}
 
+#endif // CONFIG_UAVCANNODE_RTK_DATA
+
+#if defined(CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND)
+	int32_t enable_servo_array_command_sub = 0;
+	param_get(param_find("CANNODE_SUB_SERV"), &enable_servo_array_command_sub);
+
+	if (enable_servo_array_command_sub != 0) {
+		_subscriber_list.add(new ServoArrayCommand(_node));
+	}
+
+#endif // CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND
+
 	for (auto &subscriber : _subscriber_list) {
 		subscriber->init();
 	}