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AP_HAL_PX4: RCOutput support for UAVCAN

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This commit is contained in:
Eugene Shamaev 2017-04-02 17:55:10 +03:00 committed by Francisco Ferreira
parent 865392f034
commit 7caeaf4be6
1 changed files with 37 additions and 2 deletions
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39
libraries/AP_HAL_PX4/RCOutput.cpp
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@ -14,6 +14,12 @@
#include <drivers/drv_pwm_output.h> #include <drivers/drv_pwm_output.h>
#include <drivers/drv_sbus.h> #include <drivers/drv_sbus.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#if HAL_WITH_UAVCAN
#include <AP_UAVCAN/AP_UAVCAN.h>
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
using namespace PX4; using namespace PX4;
@ -529,8 +535,37 @@ void PX4RCOutput::_send_outputs(void)
} }
} }
// also publish to actuator_direct if(AP_BoardConfig::get_can_enable() >= 1)
_publish_actuators(); {
// also publish to actuator_direct (UAVCAN is published via AP_UAVCAN)
_publish_actuators();
#if HAL_WITH_UAVCAN
if(hal.can_mgr != nullptr)
{
AP_UAVCAN *ap_uc = hal.can_mgr->get_UAVCAN();
if(ap_uc != nullptr)
{
if(ap_uc->rc_out_sem_take())
{
for(uint8_t i = 0; i < _max_channel; i++)
{
ap_uc->rco_write(_period[i], i);
}
bool armed = hal.util->get_soft_armed();
if (armed) {
ap_uc->rco_arm_actuators(true);
} else {
ap_uc->rco_arm_actuators(false);
}
ap_uc->rc_out_sem_give();
}
}
}
#endif // HAL_WITH_UAVCAN
}
perf_end(_perf_rcout); perf_end(_perf_rcout);
_last_output = now; _last_output = now;