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Plane: move to using CANManager library

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This commit is contained in:
Siddharth Purohit 2020-05-31 17:19:22 +05:30 committed by Andrew Tridgell
parent 9b9954aa46
commit fb180fa431
3 changed files with 7 additions and 6 deletions
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6
ArduPlane/Parameters.cpp
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@ -1017,10 +1017,10 @@ const AP_Param::Info Plane::var_info[] = {
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
#if HAL_WITH_UAVCAN
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
// @Group: CAN_
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
GOBJECT(BoardConfig_CAN, "CAN_", AP_BoardConfig_CAN),
// @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
GOBJECT(can_mgr, "CAN_", AP_CANManager),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL

2
ArduPlane/Parameters.h
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@ -46,7 +46,7 @@ public:
k_param_avoidance_adsb,
k_param_landing,
k_param_NavEKF3,
k_param_BoardConfig_CAN,
k_param_can_mgr,
k_param_osd,
// Misc

5
ArduPlane/system.cpp
View File

@ -33,8 +33,9 @@ void Plane::init_ardupilot()
// setup any board specific drivers
BoardConfig.init();
#if HAL_WITH_UAVCAN
BoardConfig_CAN.init();
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
can_mgr.init();
#endif
// initialise rc channels including setting mode