forked from Archive/PX4-Autopilot
uavcan: show ESC output values in uavcan status, and add arm/disarm
this makes "uavcan status" show the current output values, which is useful for debugging. It also adds "uavcan arm" and "uavcan disarm" commands, which are very useful for re-arming after a motor test.
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@ -604,6 +604,14 @@ UavcanNode::print_info()
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(unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
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printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
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if (_outputs.noutputs != 0) {
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printf("ESC output: ");
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for (uint8_t i=0; i<_outputs.noutputs; i++) {
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printf("%d ", (int)(_outputs.output[i]*1000));
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}
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printf("\n");
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}
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// Sensor bridges
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auto br = _sensor_bridges.getHead();
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while (br != nullptr) {
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@ -622,7 +630,7 @@ UavcanNode::print_info()
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static void print_usage()
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{
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warnx("usage: \n"
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"\tuavcan {start|status|stop}");
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"\tuavcan {start|status|stop|arm|disarm}");
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}
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extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
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@ -669,6 +677,16 @@ int uavcan_main(int argc, char *argv[])
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::exit(0);
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}
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if (!std::strcmp(argv[1], "arm")) {
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inst->arm_actuators(true);
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::exit(0);
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}
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if (!std::strcmp(argv[1], "disarm")) {
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inst->arm_actuators(false);
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::exit(0);
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}
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if (!std::strcmp(argv[1], "stop")) {
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delete inst;
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::exit(0);
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