UAVCAN: allow to arm single ESCs

3 files changed, 30 insertions, 7 deletions

diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp
index 1990651ef..fbd4f0bcd 100644
--- a/src/modules/uavcan/actuators/esc.cpp
+++ b/src/modules/uavcan/actuators/esc.cpp
@@ -40,6 +40,9 @@
 #include "esc.hpp"
 #include <systemlib/err.h>
 
+
+#define MOTOR_BIT(x) (1<<(x))
+
 UavcanEscController::UavcanEscController(uavcan::INode &node) :
 	_node(node),
 	_uavcan_pub_raw_cmd(node),
@@ -95,9 +98,8 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 
 	static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
 
-	if (_armed) {
-		for (unsigned i = 0; i < num_outputs; i++) {
-
+	for (unsigned i = 0; i < num_outputs; i++) {
+		if (_armed_mask & MOTOR_BIT(i)) {
 			float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max;
 			if (scaled < 1.0F) {
 				scaled = 1.0F;  // Since we're armed, we don't want to stop it completely
@@ -112,6 +114,9 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 
 			_esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled));
 		}
+		else {
+			msg.cmd.push_back(static_cast<unsigned>(0));
+		}
 	}
 
 	/*
@@ -121,9 +126,20 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 	(void)_uavcan_pub_raw_cmd.broadcast(msg);
 }
 
-void UavcanEscController::arm_esc(bool arm)
+void UavcanEscController::arm_all_escs(bool arm)
+{
+	if (arm)
+		_armed_mask = -1;
+	else
+		_armed_mask = 0;
+}
+
+void UavcanEscController::arm_single_esc(int num, bool arm)
 {
-	_armed = arm;
+	if (arm)
+		_armed_mask = MOTOR_BIT(num);
+	else
+		_armed_mask = 0;
 }
 
 void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
diff --git a/src/modules/uavcan/actuators/esc.hpp b/src/modules/uavcan/actuators/esc.hpp
index f4a3877e6..ff3ecfb21 100644
--- a/src/modules/uavcan/actuators/esc.hpp
+++ b/src/modules/uavcan/actuators/esc.hpp
@@ -61,7 +61,8 @@ public:
 
 	void update_outputs(float *outputs, unsigned num_outputs);
 
-	void arm_esc(bool arm);
+	void arm_all_escs(bool arm);
+	void arm_single_esc(int num, bool arm);
 
 private:
 	/**
@@ -99,6 +100,12 @@ private:
 	uavcan::TimerEventForwarder<TimerCbBinder>				_orb_timer;
 
 	/*
+	 * ESC states
+	 */
+	uint32_t 			_armed_mask = 0;
+	uavcan::equipment::esc::Status	_states[MAX_ESCS];
+
+	/*
 	 * Perf counters
 	 */
 	perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input");
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index a8485ee44..59f0f4300 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -429,7 +429,7 @@ int
 UavcanNode::arm_actuators(bool arm)
 {
 	_is_armed = arm;
-	_esc_controller.arm_esc(arm);
+	_esc_controller.arm_all_escs(arm);
 	return OK;
 }