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Branch: c421

AP_Periph-1.3

Copter-4.2

Copter-4.2-BW

apm_2208

apm_2208-rover

apm_2208-rover-debug

c421

copter407

gps-1.3.1

main

master

master_rangefinder

mission-4.1.18

periph-1.3.1

release-4.2.3

rover_4.3

zr-sdk-4.3.1

zr-v5.0

zr-v5.1

zr/Rover-4.3

zr/main-4.3

zr_rover4.2

数字绿土/zr-v5.0

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ardupilot/libraries/AP_UAVCAN

History

Andrew Tridgell 4adb3ddfa2 AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter ... this allows for an offset in ESC numbering for much more efficient CAN bandwidth usage. For example, on a coaxial OctoQuad quadplane the ESCs are typically setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN buses, with one CAN bus for the top layer and the one bus for the bottom layer (allowing for VTOL flight with one bus failed). Without this offset parameter you would be sending RawCommand messages like this: bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ] bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ] this is very wasteful of bus bandwidth, with bus1 using 3x the bandwidth it should and bus2 using 4x the bandwidth it should (the above will take 3 can frames for bus1, and 4 can frames for bus 2) With this patch you can set: CAN_D1_UC_ESC_OF = 4 CAN_D2_UC_ESC_OF = 8 and you will get this on the bus: bus1: [ ESC1, ESC2, ESC3, ESC4 ] bus2: [ ESC1, ESC2, ESC3, ESC4 ] that takes just 1 can frame per send on each bus		3 years ago
..
dsdl	AP_UAVCAN: removed old vendor DSDL and add README.md	3 years ago
examples/UAVCAN_sniffer	…
AP_UAVCAN.cpp	AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter	3 years ago
AP_UAVCAN.h	AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter	3 years ago
AP_UAVCAN_Clock.h	…
AP_UAVCAN_DNA_Server.cpp	AP_UAVCAN: add metadata to GetNodeInfo log message	3 years ago
AP_UAVCAN_DNA_Server.h	AP_UAVCAN: added CAN_Dn_UC_OPTION parameter	3 years ago
AP_UAVCAN_IfaceMgr.cpp	AP_UAVCAN: disable CAN filtering except on AP_Periph	3 years ago
AP_UAVCAN_IfaceMgr.h	AP_UAVCAN: disable CAN filtering except on AP_Periph	3 years ago