ardupilot

History

Andrew Tridgell bf89a39621 AP_UAVCAN: removed the old DroneCAN Fix message only send/process Fix2 message, saving bus bandwidth and flash space		2022-09-28 17:27:32 +10:00
..
README.md	…
UAVCAN_sniffer.cpp	AP_UAVCAN: removed the old DroneCAN Fix message	2022-09-28 17:27:32 +10:00
nobuild.txt	AP_UAVCAN: disable build for UAVCAN test	2020-08-19 19:00:42 +10:00
wscript	…

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