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GCS_MAVLink: sending UAVCAN MAVlink ESC messages

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elhayra 2020-08-05 18:03:02 +03:00 committed by Peter Barker
parent 5ffae82a90
commit 9b3a574775
1 changed files with 8 additions and 1 deletions
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9
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -65,6 +65,7 @@
#endif
#include <AP_ToshibaCAN/AP_ToshibaCAN.h>
#include <AP_PiccoloCAN/AP_PiccoloCAN.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#endif
#include <AP_BattMonitor/AP_BattMonitor.h>
@ -4736,7 +4737,13 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
}
#endif
case AP_BoardConfig_CAN::Protocol_Type_UAVCAN:
case AP_BoardConfig_CAN::Protocol_Type_UAVCAN: {
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
if (ap_uavcan != nullptr) {
ap_uavcan->send_esc_telemetry_mavlink(uint8_t(chan));
}
break;
}
case AP_BoardConfig_CAN::Protocol_Type_None:
default:
break;