mirror of https://github.com/ArduPilot/ardupilot
28 lines
844 B
Markdown
28 lines
844 B
Markdown
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This is a UAVCAN sniffer designed to run on an ArduPilot board. It can
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be used to watch traffic on a UAVCAN bus, showing exactly what would
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be received by another node.
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To build and upload for a Pixhawk style board run this:
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```
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./waf configure --board fmuv3
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./waf --target examples/UAVCAN_sniffer --upload
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```
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then connect on the USB console. You will see 1Hz packet stats like
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this:
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```
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uavcan.equipment.air_data.StaticPressure: 29
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uavcan.equipment.air_data.StaticTemperature: 29
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uavcan.equipment.ahrs.MagneticFieldStrength: 20
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uavcan.protocol.NodeStatus: 6
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uavcan.equipment.gnss.Fix: 10
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uavcan.equipment.gnss.Auxiliary: 1
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uavcan.equipment.actuator.ArrayCommand: 45
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uavcan.equipment.esc.RawCommand: 368
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```
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note that the code requires you to add new msg types you want to
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see. Look for the MSG_CB() and START_CB() macros in the code
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