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UAVCANv1 demo UAVCAN146 <-> BMS-722 is working

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Fixed UAVCAN146 linker script that caused CXX initalization to wrong
Enabled uORB listener command
Updated UAVCANv1 msg definition

Known isssue: PX4 params are not working on the UAVCAN146
This commit is contained in:
Peter van der Perk
2020-05-29 15:34:29 +02:00
committed by Lorenz Meier
parent 58ca575871
commit e5d29d4079
4 changed files with 15 additions and 10 deletions
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5
src/drivers/uavcan_v1/Uavcan.cpp
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@@ -235,7 +235,7 @@ void UavcanNode::Run()
if (_battery_status_sub.update(&battery_status)) {
regulated::drone::sensor::BMSStatus_1_0 bmsstatus{};
//bmsstatus.timestamp = battery_status.timestamp;
bmsstatus.remaining_capacity = battery_status.remaining;
//bmsstatus.remaining_capacity = battery_status.remaining;
bmsstatus.serializeToBuffer(_regulated_drone_sensor_bmsstatus_buffer);
@@ -320,7 +320,8 @@ void UavcanNode::Run()
battery_status_s battery_status{};
battery_status.id = bms_status.battery_id;
battery_status.remaining = bms_status.remaining_capacity;
battery_status.voltage_v = bms_status.voltage;
//battery_status.remaining = bms_status.remaining_capacity;
battery_status.timestamp = hrt_absolute_time();
_battery_status_pub.publish(battery_status);
}