CONNECTED_ESC_MAX and NUM_MOTOR_OUTPUTS changed.

Maximum numbers of connected ESCs in uORB and in UAVCAN expanded to 16.
PX4 · Jun 15, 2019 · c18c9d0 · c18c9d0
1 parent 3273547
commit c18c9d0
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/msg/esc_status.msg b/msg/esc_status.msg
@@ -1,5 +1,5 @@
 uint64 timestamp					# time since system start (microseconds)
-uint8 CONNECTED_ESC_MAX = 8				# The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
+uint8 CONNECTED_ESC_MAX = 16				# The number of ESCs supported. Current (Q2/2019) we support 16 ESCs
 
 uint8 ESC_VENDOR_GENERIC = 0				# generic ESC
 uint8 ESC_VENDOR_MIKROKOPTER = 1			# Mikrokopter
@@ -17,4 +17,4 @@ uint16 counter  					# incremented by the writing thread everytime new data is s
 uint8 esc_count						# number of connected ESCs
 uint8 esc_connectiontype				# how ESCs connected to the system
 
-esc_report[8] esc
+esc_report[16] esc
diff --git a/msg/test_motor.msg b/msg/test_motor.msg
@@ -1,5 +1,5 @@
 uint64 timestamp				# time since system start (microseconds)
-uint8 NUM_MOTOR_OUTPUTS = 8
+uint8 NUM_MOTOR_OUTPUTS = 16
 
 uint32 motor_number				# number of motor to spin
 float32 value					# output power, range [0..1]
diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp
@@ -901,9 +901,11 @@ int UavcanNode::run()
 
 			} else if (controls_updated && (_mixers != nullptr)) {
 
-				// XXX one output group has 8 outputs max,
+				// XXX one output group has 16 (esc_status_s::CONNECTED_ESC_MAX) outputs max (Q2/2019),
 				// but this driver could well serve multiple groups.
-				unsigned num_outputs_max = 8;
+				unsigned num_outputs_max = (
+								   esc_status_s::CONNECTED_ESC_MAX < static_cast<unsigned>(uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) ?
+								   esc_status_s::CONNECTED_ESC_MAX : static_cast<unsigned>(uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize));
 
 				_mixers->set_airmode(_airmode);