mirror of https://github.com/ArduPilot/ardupilot
bf89a39621
only send/process Fix2 message, saving bus bandwidth and flash space |
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| .. | ||
| README.md | ||
| UAVCAN_sniffer.cpp | ||
| nobuild.txt | ||
| 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