int UavcanNode::init(uavcan::NodeID node_id)
{
int ret = -1;
// Do regular cdev init
ret = CDev::init();
if (ret != OK) {
return ret;
}
_node.setName(HW_UAVCAN_NAME);
_node.setNodeID(node_id);
fill_node_info();
const int srv_start_res = _fw_update_listner.start(BeginFirmwareUpdateCallBack(this,
&UavcanNode::cb_beginfirmware_update));
if (srv_start_res < 0) {
return ret;
}
return _node.start();
}
int UavcanNode::init(uavcan::NodeID node_id)
{
int ret = -1;
// Do regular cdev init
ret = CDev::init();
if (ret != OK) {
return ret;
}
_node.setName("org.pixhawk.pixhawk");
_node.setNodeID(node_id);
fill_node_info();
// Actuators
ret = _esc_controller.init();
if (ret < 0) {
return ret;
}
{
std::int32_t idle_throttle_when_armed = 0;
(void) param_get(param_find("UAVCAN_ESC_IDLT"), &idle_throttle_when_armed);
_esc_controller.enable_idle_throttle_when_armed(idle_throttle_when_armed > 0);
}
ret = _hardpoint_controller.init();
if (ret < 0) {
return ret;
}
// Sensor bridges
IUavcanSensorBridge::make_all(_node, _sensor_bridges);
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
ret = br->init();
if (ret < 0) {
warnx("cannot init sensor bridge '%s' (%d)", br->get_name(), ret);
return ret;
}
warnx("sensor bridge '%s' init ok", br->get_name());
br = br->getSibling();
}
/* Start the Node */
return _node.start();
}
int UavcanNode::init(uavcan::NodeID node_id)
{
int ret = -1;
// Do regular cdev init
ret = CDev::init();
if (ret != OK) {
return ret;
}
_node.setName("org.pixhawk.pixhawk");
_node.setNodeID(node_id);
fill_node_info();
// Actuators
ret = _esc_controller.init();
if (ret < 0) {
return ret;
}
ret = _hardpoint_controller.init();
if (ret < 0) {
return ret;
}
// Sensor bridges
IUavcanSensorBridge::make_all(_node, _sensor_bridges);
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
ret = br->init();
if (ret < 0) {
warnx("cannot init sensor bridge '%s' (%d)", br->get_name(), ret);
return ret;
}
warnx("sensor bridge '%s' init ok", br->get_name());
br = br->getSibling();
}
/* Start the Node */
return _node.start();
}
