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UAVCAN : Correct startup sequence and improve parameter description #9053

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merged 1 commit into from
Mar 11, 2018
Merged

UAVCAN : Correct startup sequence and improve parameter description #9053

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10 changes: 8 additions & 2 deletions ROMFS/px4fmu_common/init.d/rcS
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Original file line number Diff line number Diff line change
Expand Up @@ -686,10 +686,16 @@ then
#
if param greater UAVCAN_ENABLE 0
then
# Start core UAVCAN module
if uavcan start
then
set LOGGER_BUF 6
uavcan start fw
if param greater UAVCAN_ENABLE 1
then
# Reduce logger buffer to free up some RAM for UAVCAN servers
set LOGGER_BUF 6
# Start UAVCAN firmware update server and dynamic node ID allocation server
uavcan start fw
fi
else
tone_alarm ${TUNE_ERR}
fi
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11 changes: 6 additions & 5 deletions src/modules/uavcan/uavcan_params.c
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Expand Up @@ -42,15 +42,16 @@
* UAVCAN mode
*
* 0 - UAVCAN disabled.
* 1 - Basic support for UAVCAN actuators and sensors.
* 2 - Full support for dynamic node ID allocation and firmware update.
* 3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update.
* 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update.
* 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update.
* 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.
*
* @min 0
* @max 3
* @value 0 Disabled
* @value 2 Only Sensors
* @value 3 Sensors and Motors
* @value 1 Sensors Manual Config
* @value 2 Sensors Automatic Config
* @value 3 Sensors and Actuators (ESCs) Automatic Config
* @reboot_required true
* @group UAVCAN
*/
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