mirror of
https://github.com/ArduPilot/ardupilot
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51 lines
1.4 KiB
Markdown
51 lines
1.4 KiB
Markdown
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# UltraMotion CAN Driver
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This driver implements support for the UltraMotion CAN servos
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# Parameters
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The script used the following parameters:
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## UM_SERVO_MASK
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Mask of servo channels to transmit using UltraMotion CAN messages
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## UM_CANDRV
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This sets the CAN scripting driver number to attach to. This is
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normally set to 1 to use a CAN driver with CAN_Dx_PROTOCOL=10. To use
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the 2nd scripting CAN driver set this to 2 and set CAN_Dx_PROTOCOL=12.
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## UM_RATE_HZ
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This sets the update rate of the script in Hz (how often it checks for
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new data from the ECU). A value of 200 is reasonable.
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## UM_OPTIONS
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This sets optional features. Set bit 1 for enabling CAN logging. Bit 2
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enables telemetry parsing. Bit 3 for sending the position of all
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servos as NAMED_VALUE_FLOAT MAVLink packets of name UMPOS_n where n is
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the unit ID.
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# Operation
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This driver should be loaded by placing the lua script in the
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APM/SCRIPTS directory on the microSD card, which can be done either
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directly or via MAVFTP. The following key parameters should be set:
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- SCR_ENABLE should be set to 1
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- UM_SERVO_MASK needs to be set to a mask of servos
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It is also strongly recommended that you raise SCR_THD_PRIORITY to 3
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to ensure the script gets sufficient priority.
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then the flight controller should rebooted and parameters should be
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refreshed.
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# Telemetry Support
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To use telemetry you need to setup the servos with a specific txData
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format. The code currently assumes txData is pABCDEFS
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