fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

Cyphal param updates.

Browse Source
This commit is contained in:
Benjamin 2022-05-26 10:52:08 -04:00
parent 925a6808e0
commit f3839cb90c
3 changed files with 23 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
boards/nxp/fmuk66-v3/nxp_demo.px4board
View File

@ -8,5 +8,5 @@ CONFIG_CYPHAL_READINESS_PUBLISHER=y
CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
CONFIG_EXAMPLES_ELM_LIGHTING_MODULE=y
CONFIG_EXAMPLES_LIGHTING_STATES_PUBLISHER=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_MICRORTPS_BRIDGE=y
#CONFIG_MODULES_MICRODDS_CLIENT=y
#CONFIG_MODULES_MICRORTPS_BRIDGE=y

4
src/drivers/cyphal/ParamManager.hpp
View File

@ -116,7 +116,7 @@ public:
private:
const UavcanParamBinder _uavcan_params[13] {
const UavcanParamBinder _uavcan_params[15] {
{"uavcan.pub.esc.0.id", "UCAN1_ESC_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.pub.servo.0.id", "UCAN1_SERVO_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.pub.gps.0.id", "UCAN1_GPS_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
@ -130,6 +130,8 @@ private:
{"uavcan.sub.legacy_bms.0.id", "UCAN1_LG_BMS_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.uorb.sensor_gps.0.id", "UCAN1_UORB_GPS", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.pub.uorb.sensor_gps.0.id", "UCAN1_UORB_GPS_P", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.uorb.lighting_states.0.id", "UCAN1_UORB_LS_S", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.pub.uorb.lighting_states.0.id", "UCAN1_UORB_LS_P", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
//{"uavcan.sub.bms.0.id", "UCAN1_BMS0_SUB"}, //FIXME instancing
//{"uavcan.sub.bms.1.id", "UCAN1_BMS1_SUB"},
};

18
src/drivers/cyphal/parameters.c
View File

@ -188,3 +188,21 @@ PARAM_DEFINE_INT32(UCAN1_SERVO_PUB, -1);
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_ACTR_PUB, -1);
/**
* lighting_states uORB over Cyphal publication port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_UORB_LS_P, -1);
/**
* lighting_states uORB over Cyphal publication port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_UORB_LS_S, -1);