diff options
Diffstat (limited to 'src/modules/uavcan/uavcan_main.cpp')
| -rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index af5f2ec96..c29cd8323 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -357,6 +357,16 @@ int UavcanNode::run() _actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub); } + _esc_controller.arm_all_escs(true); + while (true) { + for (int i = 0; i < 1000; i++) { + node_spin_once(); + _outputs.noutputs = 8; + _esc_controller.update_outputs(_outputs.output, _outputs.noutputs); + } + ::usleep(1000); + } + while (!_task_should_exit) { // update actuator controls subscriptions if needed if (_groups_subscribed != _groups_required) { |