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AP_KDECAN: don't handle ESCs changing their address

This commit is contained in:
Tom Pittenger 2023-04-15 17:54:48 -07:00 committed by Andrew Tridgell
parent 2bbd7d8d91
commit de86102751
1 changed files with 11 additions and 11 deletions
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22
libraries/AP_KDECAN/AP_KDECAN.cpp
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@ -80,7 +80,7 @@ AP_KDECAN_Driver::AP_KDECAN_Driver() : CANSensor("KDECAN")
register_driver(AP_CANManager::Driver_Type_KDECAN); register_driver(AP_CANManager::Driver_Type_KDECAN);
// start thread for receiving and sending CAN frames // start thread for receiving and sending CAN frames
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_KDECAN_Driver::loop, void), "kdecan", 4096, AP_HAL::Scheduler::PRIORITY_CAN, 0); hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_KDECAN_Driver::loop, void), "kdecan", 2048, AP_HAL::Scheduler::PRIORITY_CAN, 0);
} }
// parse inbound frames // parse inbound frames
@ -136,12 +136,6 @@ void AP_KDECAN_Driver::handle_frame(AP_HAL::CANFrame &frame)
} }
break; break;
#endif // HAL_WITH_ESC_TELEM #endif // HAL_WITH_ESC_TELEM
case UPDATE_NODE_ID_OBJ_ADDR:
// reply from setting new node ID
_init.detected_bitmask |= 1U << (id.source_id - ESC_NODE_ID_FIRST);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "KDECAN: Found ESC id %u", id.source_id);
break;
} }
} }
@ -158,13 +152,19 @@ void AP_KDECAN_Driver::update(const uint8_t num_poles)
uint16_t pwm[KDECAN_MAX_NUM_ESCS] {}; uint16_t pwm[KDECAN_MAX_NUM_ESCS] {};
uint8_t index = 0; uint8_t index = 0;
for (uint16_t i = 0; i < ARRAY_SIZE(pwm); i++) { for (uint16_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
if ((_init.detected_bitmask & (1UL<<index)) == 0) { if ((_init.detected_bitmask & (1UL<<i)) == 0 || SRV_Channels::channel_function(i) <= SRV_Channel::Aux_servo_function_t::k_none) {
continue; continue;
} }
if (SRV_Channels::channel_function(i) > SRV_Channel::Aux_servo_function_t::k_none) {
pwm[index++] = SRV_Channels::srv_channel(i)->get_output_pwm(); const SRV_Channel *c = SRV_Channels::srv_channel(i);
if (c == nullptr) {
continue;
} }
if (index >= ARRAY_SIZE(pwm)) {
break;
}
pwm[index++] = c->get_output_pwm();
} }
{ {