2 Commits

Author	SHA1	Message	Date
Dmitry Ponomarev	a1efafc42b	drivers/cyphal: incremental fixes for fmu-v5 (#20671) ... * Cyphal: fix comparing floating-point issue * Cyphal: fix setpoint serialization * Cyphal: fix bug with wrong comparasion of param name and pub/sub name: remove prefix from UavcanPublisher::updateParam and UavcanDynamicPortSubscriber::updateParam and PublicationManager::updateDynamicPublications * Cyphal: integrate UavcanEscController with PublicationManager, remove second instance of UavcanEscController from CyphalNode * Cyphal: publish readiness with minimal frequency because according to UDRAL The drive shall enter STANDBY state automatically if the readiness subject is not updated for CONTROL_TIMEOUT * Cyphal: increase setpoint publish rate from ~75 to 200 by removing PX4_INFO (it really significantly react on the the output rate) and changing the mixing output rate and the shedule interval * Cyphal: restore prefix because we need it for uorb over uavcan/cyphal and add udral prefix for non uorb pub/sub * Cyphal: fix DynamicPortSubscriber subscription: if it has multiple subscribers, it should call subscription only after updating of all port subscribers port identifiers * Cyphal: fix SubscriptionManager: we should take care about prefix * Cyphal: fix readiness for test motor mode * [Cyphal] Fix dynamicsubscription, improve printinfo, enable MR-CANHUBK3 config --------- Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>	2023-02-23 10:57:50 -05:00
Peter van der Perk	b1ad4e8864	Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal ... Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp	2022-05-10 09:46:18 -04:00