ardupilot

History

Peter Barker 75bbff01c1 AP_DroneCAN: move Arming, Beacon and RC_Mapper into ardupilotwaf.py these were built for all vehicles, so put them in the common list		2024-04-17 18:11:46 +10:00
..
DroneCAN_sniffer.cpp	DroneCAN_sniffer: Use new default for reboot	2024-03-12 21:13:41 +11:00
README.md	…
nobuild.txt	…
wscript	AP_DroneCAN: move Arming, Beacon and RC_Mapper into ardupilotwaf.py	2024-04-17 18:11:46 +10:00

README.md

This is a UAVCAN sniffer designed to run on an ArduPilot board. It can be used to watch traffic on a UAVCAN bus, showing exactly what would be received by another node.

To build and upload for a Pixhawk style board run this:

 ./waf configure --board fmuv3 
 ./waf --target examples/UAVCAN_sniffer --upload

then connect on the USB console. You will see 1Hz packet stats like this:

uavcan.equipment.air_data.StaticPressure: 29
uavcan.equipment.air_data.StaticTemperature: 29
uavcan.equipment.ahrs.MagneticFieldStrength: 20
uavcan.protocol.NodeStatus: 6
uavcan.equipment.gnss.Fix: 10
uavcan.equipment.gnss.Auxiliary: 1
uavcan.equipment.actuator.ArrayCommand: 45
uavcan.equipment.esc.RawCommand: 368

note that the code requires you to add new msg types you want to see. Look for the MSG_CB() and START_CB() macros in the code