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Correct compilation VOLZ_FEEDBACK is enabled #28966

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merged 3 commits into from
Dec 31, 2024
Merged

Correct compilation VOLZ_FEEDBACK is enabled #28966

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c80a52a
AP_DroneCAN: correct enable/disable of AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
peterbarker Dec 30, 2024
5a58512
Tools: correct enable/disable of AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
peterbarker Dec 30, 2024
6631d4f
AP_DroneCAN: correct compilation when AP_DRONECAN_VOLZ_FEEDBACK_ENABL…
peterbarker Dec 30, 2024
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4 changes: 2 additions & 2 deletions Tools/scripts/build_options.py
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Original file line number Diff line number Diff line change
Expand Up @@ -408,9 +408,9 @@ def config_option(self):
Feature('Airspeed Drivers', 'SDP3X', 'AP_AIRSPEED_SDP3X_ENABLED', 'Enable SDP3X AIRSPEED', 0, 'AIRSPEED'),
Feature('Airspeed Drivers', 'DRONECAN_ASPD', 'AP_AIRSPEED_DRONECAN_ENABLED', 'Enable DroneCAN AIRSPEED', 0, 'AIRSPEED,DroneCAN'), # NOQA: E501

Feature('Actuators', 'Servo telem', 'AP_SERVO_TELEM_ENABLED', 'Enable servo telemetry library', 0, None),
Feature('Actuators', 'ServoTelem', 'AP_SERVO_TELEM_ENABLED', 'Enable servo telemetry library', 0, None),
Feature('Actuators', 'Volz', 'AP_VOLZ_ENABLED', 'Enable Volz Protocol', 0, None),
Feature('Actuators', 'Volz_DroneCAN', 'AP_DRONECAN_VOLZ_FEEDBACK_ENABLED', 'Enable Volz DroneCAN Feedback', 0, "DroneCAN,Volz"), # noqa: E501
Feature('Actuators', 'Volz_DroneCAN', 'AP_DRONECAN_VOLZ_FEEDBACK_ENABLED', 'Enable Volz DroneCAN Feedback', 0, "DroneCAN,Volz,ServoTelem"), # noqa: E501
Feature('Actuators', 'RobotisServo', 'AP_ROBOTISSERVO_ENABLED', 'Enable RobotisServo protocol', 0, None),
Feature('Actuators', 'SBUS Output', 'AP_SBUSOUTPUT_ENABLED', 'Enable SBUS output on serial ports', 0, None),
Feature('Actuators', 'FETTecOneWire', 'AP_FETTEC_ONEWIRE_ENABLED', 'Enable FETTec OneWire ESCs', 0, None),
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2 changes: 1 addition & 1 deletion libraries/AP_DroneCAN/AP_DroneCAN.cpp
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Expand Up @@ -1448,7 +1448,7 @@ void AP_DroneCAN::handle_actuator_status_Volz(const CanardRxTransfer& transfer,
.voltage = msg.voltage * 0.2,
.current = msg.current * 0.025,
.duty_cycle = msg.motor_pwm * (100.0/255.0),
.motor_temperature_cdeg = (int16_t(msg.motor_temperature) - 50)) * 100,
.motor_temperature_cdeg = (int16_t(msg.motor_temperature) - 50) * 100,
.valid_types = AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::VOLTAGE |
AP_Servo_Telem::TelemetryData::Types::CURRENT |
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4 changes: 2 additions & 2 deletions libraries/AP_DroneCAN/AP_DroneCAN.h
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Expand Up @@ -350,7 +350,7 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
Canard::ObjCallback<AP_DroneCAN, com_himark_servo_ServoInfo> himark_servo_ServoInfo_cb{this, &AP_DroneCAN::handle_himark_servoinfo};
Canard::Subscriber<com_himark_servo_ServoInfo> himark_servo_ServoInfo_cb_listener{himark_servo_ServoInfo_cb, _driver_index};
#endif
#if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED && AP_SERVO_TELEM_ENABLED
#if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
Canard::ObjCallback<AP_DroneCAN, com_volz_servo_ActuatorStatus> volz_servo_ActuatorStatus_cb{this, &AP_DroneCAN::handle_actuator_status_Volz};
Canard::Subscriber<com_volz_servo_ActuatorStatus> volz_servo_ActuatorStatus_listener{volz_servo_ActuatorStatus_cb, _driver_index};
#endif
Expand Down Expand Up @@ -418,7 +418,7 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
#if AP_SERVO_TELEM_ENABLED
void handle_actuator_status(const CanardRxTransfer& transfer, const uavcan_equipment_actuator_Status& msg);
#endif
#if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED && AP_SERVO_TELEM_ENABLED
#if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
void handle_actuator_status_Volz(const CanardRxTransfer& transfer, const com_volz_servo_ActuatorStatus& msg);
#endif
void handle_ESC_status(const CanardRxTransfer& transfer, const uavcan_equipment_esc_Status& msg);
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