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equipment::actuator::Command #4
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So far, I've figured out that it's because equipment::actuator::Command does not have a default data type ID, so it's not registered with the uavcan data type registry. Why it doesn't have an ID, I haven't figured out yet. |
I just confirmed that the newest DSDL and compiler also generate this message without a default data type ID and raised the issue with DroneCAN. |
Hi Brian As you said in the DroneCAN issue think you are going to need use the arraycommand for publishing actuator commands. Did a search and finally found what I was looking for. Check out what Ardupilot's AP_UAVCAN is doing for acutators:https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_UAVCAN/AP_UAVCAN.cpp. For publisher is around https://github.com/ArduPilot/ardupilot/blob/bda280bcf158f0740bc65d07c94a55fe21365627/libraries/AP_UAVCAN/AP_UAVCAN.cpp#L339 Have to admit, I did try a few of them like for gimbals, gnss etc but never that one. Ok now to look at your example |
After I posted the issue to the DroneCAN repo, I tried ArrayCommand and that certainly works, once I figured out how to use the ArrayModeDynamic type. I think we're right, that you are only supposed to use the ArrayCommand. |
Hey Mike,
I'm noticing an issue publishing message equipment::actuator::Command. Example code is:
And pub->init() returns less than 0 for me. The interesting thing is that if I use the equipment::air_data::TrueAirspeed message, I don't have any issues, so it appears to be specific to the equipment::actuator::Command message. I don't have enough insight yet to tell whether it's an issue with the Teensy implementation or a larger DroneCAN issue. I am seeing the same problem with my version of the Teensy DroneCAN library also, but thought it would be easier to debug on yours, since your CAN bus library is much simpler.
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