uavcan: add UAVCAN_SUB_LOG param to enable/disable uavcan::protocol::debug::LogMessage subscription handling

ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris

@@ -9,28 +9,4 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-set MIXER skip
-set MIXER_AUX none
+set MIXER quad_w

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+set MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo

@@ -7,31 +7,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.145
-param set-default CA_ROTOR0_PY 0.145
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.145
-param set-default CA_ROTOR1_PY -0.145
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.145
-param set-default CA_ROTOR2_PY -0.145
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.145
-param set-default CA_ROTOR3_PY 0.145
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_ROLLRATE_P 0.05
 
-set MIXER skip
-set MIXER_AUX none
+set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -33,6 +33,7 @@
 
 px4_add_romfs_files(
 	10016_iris
+	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
 	10019_omnicopter
 	10020_if750a

src/drivers/uavcan/uavcan_main.cpp

@@ -508,6 +508,18 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
 
 	fill_node_info();
 
+	// log message subscription
+	int32_t uavcan_sub_log = 1;
+	param_get(param_find("UAVCAN_SUB_LOG"), &uavcan_sub_log);
+
+	if (uavcan_sub_log != 0) {
+		ret = _log_message_controller.init();
+
+		if (ret < 0) {
+			return ret;
+		}
+	}
+
 	ret = _beep_controller.init();
 
 	if (ret < 0) {
@@ -533,12 +545,6 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
 		return ret;
 	}
 
-	ret = _log_message_controller.init();
-
-	if (ret < 0) {
-		return ret;
-	}
-
 	ret = _rgbled_controller.init();
 
 	if (ret < 0) {

src/drivers/uavcan/uavcan_params.c

@@ -307,6 +307,18 @@ PARAM_DEFINE_INT32(UAVCAN_SUB_ICE, 0);
  */
 PARAM_DEFINE_INT32(UAVCAN_SUB_IMU, 0);
 
+/**
+ * subscription log message
+ *
+ * Enable UAVCAN log message subscription.
+ *  uavcan::protocol::debug::LogMessage
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_LOG, 1);
+
 /**
  * subscription magnetometer
  *