fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 17:58:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

Initial Cannode PWM Support (#19748)

Browse Source 
* Add uavcannode esc/servo pwm control pipeline
* Remove cannode rc.interface with mixer purge
* Cannode add Kconfig options to reduce flash usage
This commit is contained in:
Alex Klimaj
2023-03-15 11:20:07 -04:00
committed by GitHub
parent f0a95f9572
commit ea97a38b2b
24 changed files with 891 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/uavcan/uavcan_main.cpp
+16 -1
View File
@@ -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;