RPM: Send on Periph and receive on vehicle #26508
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Looking for approval of approach so we can merge the DSDL change. |
tridge
reviewed
Mar 19, 2024
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Tested with SITL Universal periph. Periph using SITL RPM backed with sensor ID 5. Receiving on vehicle with DroneCAN backend with the same senor ID. Tested health reporting by changing the min quality param on periph such that its sensor goes unhealthy. The local sensor correctly follows this. |
tridge
previously requested changes
May 1, 2024
… `sitl_periph_universal`
tridge
approved these changes
May 2, 2024
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This adds support for a new DroneCAN rpm message, dronecan/DSDL#53
It is sent on periph by setting a message rate with
RPM_MSG_RATEand alocating a sensor ID withRPMx_DC_SEND_ID. SetHAL_PERIPH_ENABLE_RPM_STREAMto enable in the build.On the vehicle side set
RPMx_TYPEto 7 andRPMx_DC_IDto match the send ID you want to receive.Its a bit upsetting having two params for this in RPM, really we need per-instance params so you would only see the
RPMx_DC_IDon the DroneCAN backend.This updates the DroneCAN DSDL to point at my branch, we will need to do the shuffle to merge the DSDL PR first.