diff options
| -rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 20 |
1 files changed, 19 insertions, 1 deletions
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index e4f58b310..8fa765633 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -604,6 +604,14 @@ UavcanNode::print_info() (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num); printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK"); + if (_outputs.noutputs != 0) { + printf("ESC output: "); + for (uint8_t i=0; i<_outputs.noutputs; i++) { + printf("%d ", (int)(_outputs.output[i]*1000)); + } + printf("\n"); + } + // Sensor bridges auto br = _sensor_bridges.getHead(); while (br != nullptr) { @@ -622,7 +630,7 @@ UavcanNode::print_info() static void print_usage() { warnx("usage: \n" - "\tuavcan {start|status|stop}"); + "\tuavcan {start|status|stop|arm|disarm}"); } extern "C" __EXPORT int uavcan_main(int argc, char *argv[]); @@ -669,6 +677,16 @@ int uavcan_main(int argc, char *argv[]) ::exit(0); } + if (!std::strcmp(argv[1], "arm")) { + inst->arm_actuators(true); + ::exit(0); + } + + if (!std::strcmp(argv[1], "disarm")) { + inst->arm_actuators(false); + ::exit(0); + } + if (!std::strcmp(argv[1], "stop")) { delete inst; ::exit(0); |