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AP_UAVCAN: support DroneCAN EFI

This commit is contained in:
Andrew Tridgell 2022-06-04 08:10:12 +10:00
parent f728894eec
commit 465dbd89f4
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_UAVCAN/AP_UAVCAN.cpp
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@ -48,6 +48,7 @@
#include <AP_Arming/AP_Arming.h> #include <AP_Arming/AP_Arming.h>
#include <AP_Baro/AP_Baro_UAVCAN.h> #include <AP_Baro/AP_Baro_UAVCAN.h>
#include <AP_RangeFinder/AP_RangeFinder_UAVCAN.h> #include <AP_RangeFinder/AP_RangeFinder_UAVCAN.h>
#include <AP_EFI/AP_EFI_DroneCAN.h>
#include <AP_GPS/AP_GPS_UAVCAN.h> #include <AP_GPS/AP_GPS_UAVCAN.h>
#include <AP_BattMonitor/AP_BattMonitor_UAVCAN.h> #include <AP_BattMonitor/AP_BattMonitor_UAVCAN.h>
#include <AP_Compass/AP_Compass_UAVCAN.h> #include <AP_Compass/AP_Compass_UAVCAN.h>
@ -342,6 +343,9 @@ void AP_UAVCAN::init(uint8_t driver_index, bool enable_filters)
AP_OpticalFlow_HereFlow::subscribe_msgs(this); AP_OpticalFlow_HereFlow::subscribe_msgs(this);
#endif #endif
AP_RangeFinder_UAVCAN::subscribe_msgs(this); AP_RangeFinder_UAVCAN::subscribe_msgs(this);
#if HAL_EFI_ENABLED
AP_EFI_DroneCAN::subscribe_msgs(this);
#endif
act_out_array[driver_index] = new uavcan::Publisher<uavcan::equipment::actuator::ArrayCommand>(*_node); act_out_array[driver_index] = new uavcan::Publisher<uavcan::equipment::actuator::ArrayCommand>(*_node);
act_out_array[driver_index]->setTxTimeout(uavcan::MonotonicDuration::fromMSec(2)); act_out_array[driver_index]->setTxTimeout(uavcan::MonotonicDuration::fromMSec(2));