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AP_BoardConfig: allow to enable UAVCAN plug-and-play mode

This commit is contained in:
Holger Steinhaus 2016-02-02 10:46:52 +01:00 committed by Andrew Tridgell
parent d0b67ce007
commit 503e196546
1 changed files with 12 additions and 1 deletions
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13
libraries/AP_BoardConfig/AP_BoardConfig.cpp
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@ -142,7 +142,7 @@ void AP_BoardConfig::init()
}
#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
if (_can_enable == 1) {
if (_can_enable >= 1) {
const char *args[] = { "uavcan", "start", NULL };
int ret = uavcan_main(3, args);
if (ret != 0) {
@ -153,6 +153,17 @@ void AP_BoardConfig::init()
hal.scheduler->delay(1500);
}
}
if (_can_enable >= 2) {
const char *args[] = { "uavcan", "start", "fw", NULL };
int ret = uavcan_main(4, args);
if (ret != 0) {
hal.console->printf("UAVCAN: failed to start servers\n");
} else {
hal.console->printf("UAVCAN: servers started\n");
// give some time for CAN bus initialisation
hal.scheduler->delay(500);
}
}
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN