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GCS_MAVLink: added support for Piccolo CAN ESCs

This commit is contained in:
Oliver Walters 2019-12-09 15:31:29 +11:00 committed by Andrew Tridgell
parent 7c3391d0d8
commit 5fa54f3986
1 changed files with 13 additions and 0 deletions
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13
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -60,6 +60,7 @@
#include <AP_KDECAN/AP_KDECAN.h>
#endif
#include <AP_ToshibaCAN/AP_ToshibaCAN.h>
#include <AP_PiccoloCAN/AP_PiccoloCAN.h>
#endif
#include <AP_BattMonitor/AP_BattMonitor.h>
@ -3463,6 +3464,9 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_can(const mavlink_command_long_
UNUSED_RESULT(start_stop); // prevent unused variable error
#endif
}
case AP_BoardConfig_CAN::Protocol_Type_PiccoloCAN:
// TODO - Run PiccoloCAN pre-flight checks here
break;
case AP_BoardConfig_CAN::Protocol_Type_UAVCAN:
case AP_BoardConfig_CAN::Protocol_Type_None:
default:
@ -4513,6 +4517,15 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
}
break;
}
#if HAL_PICCOLO_CAN_ENABLE
case AP_BoardConfig_CAN::Protocol_Type_PiccoloCAN: {
AP_PiccoloCAN *ap_pcan = AP_PiccoloCAN::get_pcan(i);
if (ap_pcan != nullptr) {
ap_pcan->send_esc_telemetry_mavlink(uint8_t(chan));
}
break;
}
#endif
case AP_BoardConfig_CAN::Protocol_Type_UAVCAN:
case AP_BoardConfig_CAN::Protocol_Type_None:
default: