dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merge remote-tracking branch 'upstream/master' into obcfailsafe

This commit is contained in:
Thomas Gubler 2014-08-27 21:33:42 +02:00
parent 9cc1f1ab9d 62b98cc944
commit 0502761799
19 changed files with 159 additions and 60 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ROMFS/px4fmu_common/init.d/3035_viper
View File

@ -8,3 +8,5 @@
sh /etc/init.d/rc.fw_defaults
set MIXER Viper
set FAILSAFE "-c567 -p 1000"

5
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -77,4 +77,9 @@ then
pwm max -c $PWM_OUTPUTS -p $PWM_MAX
fi
fi
if [ $FAILSAFE != none ]
then
pwm failsafe -d $OUTPUT_DEV $FAILSAFE
fi
fi

9
ROMFS/px4fmu_common/init.d/rcS
View File

@ -66,6 +66,9 @@ then
#
sercon
# Try to get an USB console
nshterm /dev/ttyACM0 &
#
# Start the ORB (first app to start)
#
@ -96,11 +99,9 @@ then
#
if rgbled start
then
echo "[init] RGB Led"
else
if blinkm start
then
echo "[init] BlinkM"
blinkm systemstate
fi
fi
@ -129,6 +130,7 @@ then
set LOAD_DEFAULT_APPS yes
set GPS yes
set GPS_FAKE no
set FAILSAFE none
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@ -279,9 +281,6 @@ then
fi
fi
# Try to get an USB console
nshterm /dev/ttyACM0 &
#
# Start the datamanager (and do not abort boot if it fails)
#

11
ROMFS/px4fmu_common/mixers/FMU_AERT.mix
View File

@ -64,21 +64,22 @@ O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
Gimbal / flaps / payload mixer for last four channels,
using the payload control group
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000
S: 2 3 10000 10000 0 -10000 10000

13
ROMFS/px4fmu_common/mixers/Viper.mix
View File

@ -52,21 +52,20 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
Inputs to the mixer come from channel group 2 (payload), channels 0
(bay servo 1), 1 (bay servo 2) and 3 (drop release).
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 2 2 -10000 -10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

5
src/drivers/drv_pwm_output.h
View File

@ -94,6 +94,11 @@ __BEGIN_DECLS
*/
#define PWM_LOWEST_MAX 1700
/**
* Do not output a channel with this value
*/
#define PWM_IGNORE_THIS_CHANNEL UINT16_MAX
/**
* Servo output signal type, value is actual servo output pulse
* width in microseconds.

4
src/drivers/px4fmu/fmu.cpp
View File

@ -1272,7 +1272,9 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
memcpy(values, buffer, count * 2);
for (uint8_t i = 0; i < count; i++) {
up_pwm_servo_set(i, values[i]);
if (values[i] != PWM_IGNORE_THIS_CHANNEL) {
up_pwm_servo_set(i, values[i]);
}
}
return count * 2;

4
src/lib/launchdetection/CatapultLaunchMethod.cpp
View File

@ -66,10 +66,10 @@ void CatapultLaunchMethod::update(float accel_x)
last_timestamp = hrt_absolute_time();
if (accel_x > threshold_accel.get()) {
integrator += accel_x * dt;
integrator += dt;
// warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
// (double)integrator, (double)threshold_accel.get(), (double)threshold_time.get(), (double)accel_x, (double)dt);
if (integrator > threshold_accel.get() * threshold_time.get()) {
if (integrator > threshold_time.get()) {
launchDetected = true;
}

5
src/modules/commander/commander.cpp
View File

@ -639,6 +639,11 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case VEHICLE_CMD_PREFLIGHT_CALIBRATION:
case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
case VEHICLE_CMD_PREFLIGHT_STORAGE:
case VEHICLE_CMD_CUSTOM_0:
case VEHICLE_CMD_CUSTOM_1:
case VEHICLE_CMD_CUSTOM_2:
case VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY:
case VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
/* ignore commands that handled in low prio loop */
break;

26
src/modules/mavlink/mavlink_messages.cpp
View File

@ -886,8 +886,8 @@ protected:
msg.eph = cm_uint16_from_m_float(gps.eph);
msg.epv = cm_uint16_from_m_float(gps.epv);
msg.vel = cm_uint16_from_m_float(gps.vel_m_s),
msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
msg.satellites_visible = gps.satellites_used;
msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
msg.satellites_visible = gps.satellites_used;
_mavlink->send_message(MAVLINK_MSG_ID_GPS_RAW_INT, &msg);
}
@ -957,11 +957,11 @@ protected:
msg.lat = pos.lat * 1e7;
msg.lon = pos.lon * 1e7;
msg.alt = pos.alt * 1000.0f;
msg.relative_alt = (pos.alt - home.alt) * 1000.0f;
msg.vx = pos.vel_n * 100.0f;
msg.vy = pos.vel_e * 100.0f;
msg.vz = pos.vel_d * 100.0f;
msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f;
msg.relative_alt = (pos.alt - home.alt) * 1000.0f;
msg.vx = pos.vel_n * 100.0f;
msg.vy = pos.vel_e * 100.0f;
msg.vz = pos.vel_d * 100.0f;
msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f;
_mavlink->send_message(MAVLINK_MSG_ID_GLOBAL_POSITION_INT, &msg);
}
@ -1022,9 +1022,9 @@ protected:
msg.x = pos.x;
msg.y = pos.y;
msg.z = pos.z;
msg.vx = pos.vx;
msg.vy = pos.vy;
msg.vz = pos.vz;
msg.vx = pos.vx;
msg.vy = pos.vy;
msg.vz = pos.vz;
_mavlink->send_message(MAVLINK_MSG_ID_LOCAL_POSITION_NED, &msg);
}
@ -1085,9 +1085,9 @@ protected:
msg.x = pos.x;
msg.y = pos.y;
msg.z = pos.z;
msg.roll = pos.roll;
msg.pitch = pos.pitch;
msg.yaw = pos.yaw;
msg.roll = pos.roll;
msg.pitch = pos.pitch;
msg.yaw = pos.yaw;
_mavlink->send_message(MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, &msg);
}

4
src/modules/px4iofirmware/registers.c
View File

@ -285,7 +285,9 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_servos[offset] = *values;
if (*values != PWM_IGNORE_THIS_CHANNEL) {
r_page_servos[offset] = *values;
}
offset++;
num_values--;

21
src/modules/sdlog2/sdlog2.c
View File

@ -76,6 +76,7 @@
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/battery_status.h>
@ -934,6 +935,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_global_position_s global_pos;
struct position_setpoint_triplet_s triplet;
struct vehicle_vicon_position_s vicon_pos;
struct vision_position_estimate vision_pos;
struct optical_flow_s flow;
struct rc_channels_s rc;
struct differential_pressure_s diff_pres;
@ -984,6 +986,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_EST1_s log_EST1;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
struct log_VISN_s log_VISN;
struct log_GS0A_s log_GS0A;
struct log_GS0B_s log_GS0B;
struct log_GS1A_s log_GS1A;
@ -1013,6 +1016,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int gps_pos_sub;
int sat_info_sub;
int vicon_pos_sub;
int vision_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
@ -1043,6 +1047,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
subs.vision_pos_sub = orb_subscribe(ORB_ID(vision_position_estimate));
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
subs.rc_sub = orb_subscribe(ORB_ID(rc_channels));
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
@ -1459,6 +1464,22 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw;
LOGBUFFER_WRITE_AND_COUNT(VICN);
}
/* --- VISION POSITION --- */
if (copy_if_updated(ORB_ID(vision_position_estimate), subs.vision_pos_sub, &buf.vision_pos)) {
log_msg.msg_type = LOG_VISN_MSG;
log_msg.body.log_VISN.x = buf.vision_pos.x;
log_msg.body.log_VISN.y = buf.vision_pos.y;
log_msg.body.log_VISN.z = buf.vision_pos.z;
log_msg.body.log_VISN.vx = buf.vision_pos.vx;
log_msg.body.log_VISN.vy = buf.vision_pos.vy;
log_msg.body.log_VISN.vz = buf.vision_pos.vz;
log_msg.body.log_VISN.qx = buf.vision_pos.q[0];
log_msg.body.log_VISN.qy = buf.vision_pos.q[1];
log_msg.body.log_VISN.qz = buf.vision_pos.q[2];
log_msg.body.log_VISN.qw = buf.vision_pos.q[3];
LOGBUFFER_WRITE_AND_COUNT(VISN);
}
/* --- FLOW --- */
if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) {

15
src/modules/sdlog2/sdlog2_messages.h
View File

@ -391,6 +391,20 @@ struct log_TEL_s {
uint64_t heartbeat_time;
};
/* --- VISN - VISION POSITION --- */
#define LOG_VISN_MSG 38
struct log_VISN_s {
float x;
float y;
float z;
float vx;
float vy;
float vz;
float qx;
float qy;
float qz;
float qw;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
@ -449,6 +463,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
LOG_FORMAT(VISN, "ffffffffff", "X,Y,Z,VX,VY,VZ,QuatX,QuatY,QuatZ,QuatW"),
LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),

19
src/modules/uORB/topics/vehicle_command.h
View File

@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -37,6 +34,10 @@
/**
* @file vehicle_command.h
* Definition of the vehicle command uORB topic.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef TOPIC_VEHICLE_COMMAND_H_
@ -52,6 +53,9 @@
* but can contain additional ones.
*/
enum VEHICLE_CMD {
VEHICLE_CMD_CUSTOM_0 = 0, /* test command */
VEHICLE_CMD_CUSTOM_1 = 1, /* test command */
VEHICLE_CMD_CUSTOM_2 = 2, /* test command */
VEHICLE_CMD_NAV_WAYPOINT = 16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_LOITER_UNLIM = 17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_LOITER_TURNS = 18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
@ -87,7 +91,8 @@ enum VEHICLE_CMD {
VEHICLE_CMD_MISSION_START = 300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */
VEHICLE_CMD_COMPONENT_ARM_DISARM = 400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */
VEHICLE_CMD_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */
VEHICLE_CMD_ENUM_END = 501, /* | */
VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001, /**< Prepare a payload deployment in the flight plan */
VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 /**< Control a pre-programmed payload deployment */
};
/**
@ -115,8 +120,8 @@ struct vehicle_command_s {
float param2; /**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum. */
float param3; /**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum. */
float param4; /**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum. */
float param5; /**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum. */
float param6; /**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum. */
double param5; /**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum. */
double param6; /**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum. */
float param7; /**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum. */
enum VEHICLE_CMD command; /**< Command ID, as defined MAVLink by VEHICLE_CMD enum. */
uint8_t target_system; /**< System which should execute the command */

10
src/modules/uavcan/sensors/gnss.cpp
View File

@ -70,6 +70,16 @@ unsigned UavcanGnssBridge::get_num_redundant_channels() const
return (_receiver_node_id < 0) ? 0 : 1;
}
void UavcanGnssBridge::print_status() const
{
printf("RX errors: %d, receiver node id: ", _sub_fix.getFailureCount());
if (_receiver_node_id < 0) {
printf("N/A\n");
} else {
printf("%d\n", _receiver_node_id);
}
}
void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
{
// This bridge does not support redundant GNSS receivers yet.

2
src/modules/uavcan/sensors/gnss.hpp
View File

@ -66,6 +66,8 @@ public:
unsigned get_num_redundant_channels() const override;
void print_status() const override;
private:
/**
* GNSS fix message will be reported via this callback.

36
src/modules/uavcan/sensors/sensor_bridge.cpp
View File

@ -58,7 +58,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
{
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id >= 0) {
if (_channels[i].node_id >= 0) {
(void)unregister_class_devname(_class_devname, _channels[i].class_instance);
}
}
@ -66,13 +66,15 @@ UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
delete [] _channels;
}
void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const void *report)
void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
{
assert(report != nullptr);
Channel *channel = nullptr;
// Checking if such channel already exists
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id == redundancy_channel_id) {
if (_channels[i].node_id == node_id) {
channel = _channels + i;
break;
}
@ -84,11 +86,11 @@ void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const
return; // Give up immediately - saves some CPU time
}
log("adding channel %d...", redundancy_channel_id);
log("adding channel %d...", node_id);
// Search for the first free channel
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id < 0) {
if (_channels[i].node_id < 0) {
channel = _channels + i;
break;
}
@ -111,9 +113,9 @@ void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const
}
// Publish to the appropriate topic, abort on failure
channel->orb_id = _orb_topics[class_instance];
channel->redunancy_channel_id = redundancy_channel_id;
channel->class_instance = class_instance;
channel->orb_id = _orb_topics[class_instance];
channel->node_id = node_id;
channel->class_instance = class_instance;
channel->orb_advert = orb_advertise(channel->orb_id, report);
if (channel->orb_advert < 0) {
@ -123,7 +125,7 @@ void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const
return;
}
log("channel %d class instance %d ok", channel->redunancy_channel_id, channel->class_instance);
log("channel %d class instance %d ok", channel->node_id, channel->class_instance);
}
assert(channel != nullptr);
@ -134,9 +136,23 @@ unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
{
unsigned out = 0;
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].redunancy_channel_id >= 0) {
if (_channels[i].node_id >= 0) {
out += 1;
}
}
return out;
}
void UavcanCDevSensorBridgeBase::print_status() const
{
printf("devname: %s\n", _class_devname);
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].node_id >= 0) {
printf("channel %d: node id %d --> class instance %d\n",
i, _channels[i].node_id, _channels[i].class_instance);
} else {
printf("channel %d: empty\n", i);
}
}
}

15
src/modules/uavcan/sensors/sensor_bridge.hpp
View File

@ -68,6 +68,11 @@ public:
*/
virtual unsigned get_num_redundant_channels() const = 0;
/**
* Prints current status in a human readable format to stdout.
*/
virtual void print_status() const = 0;
/**
* Sensor bridge factory.
* Creates a bridge object by its ASCII name, e.g. "gnss", "mag".
@ -84,7 +89,7 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD
{
struct Channel
{
int redunancy_channel_id = -1;
int node_id = -1;
orb_id_t orb_id = nullptr;
orb_advert_t orb_advert = -1;
int class_instance = -1;
@ -112,13 +117,15 @@ protected:
/**
* Sends one measurement into appropriate ORB topic.
* New redundancy channels will be registered automatically.
* @param redundancy_channel_id Redundant sensor identifier (e.g. UAVCAN Node ID)
* @param report ORB message object
* @param node_id Sensor's Node ID
* @param report Pointer to ORB message object
*/
void publish(const int redundancy_channel_id, const void *report);
void publish(const int node_id, const void *report);
public:
virtual ~UavcanCDevSensorBridgeBase();
unsigned get_num_redundant_channels() const override;
void print_status() const override;
};

13
src/modules/uavcan/uavcan_main.cpp
View File

@ -41,6 +41,7 @@
#include <systemlib/param/param.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/board_serial.h>
#include <systemlib/scheduling_priorities.h>
#include <version/version.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
@ -175,7 +176,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
* Start the task. Normally it should never exit.
*/
static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
_instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, StackSize,
_instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
static_cast<main_t>(run_trampoline), nullptr);
if (_instance->_task < 0) {
@ -548,14 +549,16 @@ UavcanNode::print_info()
(void)pthread_mutex_lock(&_node_mutex);
// ESC mixer status
warnx("ESC actuators control groups: sub: %u / req: %u / fds: %u",
(unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
warnx("ESC mixer: %s", (_mixers == nullptr) ? "NONE" : "OK");
printf("ESC actuators control groups: sub: %u / req: %u / fds: %u\n",
(unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
// Sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
warnx("Sensor '%s': channels: %u", br->get_name(), br->get_num_redundant_channels());
printf("Sensor '%s':\n", br->get_name());
br->print_status();
printf("\n");
br = br->getSibling();
}