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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-26 09:23:33 +08:00
Dmitry PonomarevandPeter van der Perk
a1efafc42b
* 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>
34 lines
667 B
Bash
34 lines
667 B
Bash
#!/bin/sh
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#
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# board specific defaults
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#------------------------------------------------------------------------------
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# FIXME TELEM
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# Mavlink ethernet (CFG 1000)
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param set-default MAV_1_CONFIG 1000
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param set-default MAV_1_BROADCAST 1
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param set-default MAV_1_MODE 0
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param set-default MAV_1_RADIO_CTL 0
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param set-default MAV_1_RATE 100000
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param set-default MAV_1_REMOTE_PRT 14550
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param set-default MAV_1_UDP_PRT 14550
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param set-default SENS_EXT_I2C_PRB 0
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param set-default CYPHAL_ENABLE 0
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if param greater -s UAVCAN_ENABLE 0
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then
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ifup can0
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ifup can1
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ifup can2
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ifup can3
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fi
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if param greater -s CYPHAL_ENABLE 0
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then
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ifup can0
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ifup can1
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ifup can2
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ifup can3
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fi
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