From 0290282b17d52dd479d84a9785d6fa3c26929b47 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Sun, 22 May 2022 08:00:16 +1200 Subject: [PATCH] ROMFS: disable UAVCAN in HITL Without this, uavcan creates MixingOutput classes which then create empty actuator_outputs publications. This then prevents the motor output in HITL to be forwarded to the simulator via mavlink. --- ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil | 2 ++ ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil | 2 ++ ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil | 2 ++ 3 files changed, 6 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil index 6be7f5fa54..c96535bea4 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil @@ -61,6 +61,8 @@ param set-default HIL_ACT_FUNC6 400 param set SYS_HITL 1 +param set UAVCAN_ENABLE 0 + # disable some checks to allow to fly # - with usb param set-default CBRK_USB_CHK 197848 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil index cce8c3b643..f3c27312f6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil @@ -15,6 +15,8 @@ set MIXER quad_x param set SYS_HITL 1 +param set UAVCAN_ENABLE 0 + param set-default CA_ROTOR_COUNT 4 param set-default CA_ROTOR0_PX 0.15 param set-default CA_ROTOR0_PY 0.15 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil index 6bc1b4faea..3b9d7f7aa3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil @@ -94,6 +94,8 @@ param set-default HIL_ACT_FUNC8 203 param set SYS_HITL 1 +param set UAVCAN_ENABLE 0 + # disable some checks to allow to fly # - with usb param set-default CBRK_USB_CHK 197848