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UAVCAN: Always enable dynamic node ID allocation

This commit is contained in:
Lorenz Meier 2016-11-15 16:36:36 +01:00 committed by Lorenz Meier
parent 9ff1feb92f
commit b83363a518
2 changed files with 6 additions and 16 deletions
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13
ROMFS/px4fmu_common/init.d/rcS
View File

@ -378,8 +378,8 @@ then
then then
if param compare UAVCAN_ENABLE 0 if param compare UAVCAN_ENABLE 0
then then
echo "OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE echo "OVERRIDING UAVCAN_ENABLE = 3" >> $LOG_FILE
param set UAVCAN_ENABLE 1 param set UAVCAN_ENABLE 3
fi fi
fi fi
@ -578,15 +578,6 @@ then
# Starting stuff according to UAVCAN_ENABLE value # Starting stuff according to UAVCAN_ENABLE value
# #
if param greater UAVCAN_ENABLE 0 if param greater UAVCAN_ENABLE 0
then
if uavcan start
then
else
tone_alarm $TUNE_ERR
fi
fi
if param greater UAVCAN_ENABLE 1
then then
if uavcan start fw if uavcan start fw
then then

9
src/modules/uavcan/uavcan_params.c
View File

@ -42,16 +42,15 @@
* UAVCAN mode * UAVCAN mode
* *
* 0 - UAVCAN disabled. * 0 - UAVCAN disabled.
* 1 - Enabled support for UAVCAN actuators and sensors. * 1 - Basic support for UAVCAN actuators and sensors.
* 2 - Enabled support for dynamic node ID allocation and firmware update. * 2 - Full support for dynamic node ID allocation and firmware update.
* 3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update. * 3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update.
* *
* @min 0 * @min 0
* @max 3 * @max 3
* @value 0 Disabled * @value 0 Disabled
* @value 1 Enabled * @value 2 Sensors Enabled
* @value 2 Dynamic ID/Update * @value 3 Sensors and Motors
* @value 3 Motors/Update
* @group UAVCAN * @group UAVCAN
*/ */
PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0); PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);