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uavcannode: add CANNODE_PUB_BAR and CANNODE_PUB_MAG parameters to optionally disable baro and mag data publication (#26324)

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This commit is contained in:
Jacob Dahl
2026-01-22 08:59:59 -09:00
committed by GitHub
parent aed8a78c1d
commit 3381b270ea
2 changed files with 48 additions and 3 deletions
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src/drivers/uavcannode/UavcanNode.cpp
+22 -3
View File
@@ -384,7 +384,13 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
#endif // CONFIG_UAVCANNODE_GNSS_FIX
#if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH)
_publisher_list.add(new MagneticFieldStrength2(this, _node));
int32_t cannode_pub_mag = 1;
param_get(param_find("CANNODE_PUB_MAG"), &cannode_pub_mag);
if (cannode_pub_mag == 1) {
_publisher_list.add(new MagneticFieldStrength2(this, _node));
}
#endif // CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH
#if defined(CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT)
@@ -421,12 +427,25 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
_publisher_list.add(new SafetyButton(this, _node));
#endif // CONFIG_UAVCANNODE_SAFETY_BUTTON
#if defined(CONFIG_UAVCANNODE_STATIC_PRESSURE) || defined(CONFIG_UAVCANNODE_STATIC_TEMPERATURE)
int32_t cannode_pub_bar = 1;
param_get(param_find("CANNODE_PUB_BAR"), &cannode_pub_bar);
#endif
#if defined(CONFIG_UAVCANNODE_STATIC_PRESSURE)
_publisher_list.add(new StaticPressure(this, _node));
if (cannode_pub_bar == 1) {
_publisher_list.add(new StaticPressure(this, _node));
}
#endif // CONFIG_UAVCANNODE_STATIC_PRESSURE
#if defined(CONFIG_UAVCANNODE_STATIC_TEMPERATURE)
_publisher_list.add(new StaticTemperature(this, _node));
if (cannode_pub_bar == 1) {
_publisher_list.add(new StaticTemperature(this, _node));
}
#endif // CONFIG_UAVCANNODE_STATIC_TEMPERATURE
#if defined(CONFIG_UAVCANNODE_ARMING_STATUS)
src/drivers/uavcannode/uavcannode_params.c
+26
View File
@@ -94,3 +94,29 @@ PARAM_DEFINE_INT32(CANNODE_PUB_MBD, 0);
* @group UAVCAN
*/
PARAM_DEFINE_INT32(CANNODE_PUB_IMU, 0);
/**
* Enable barometer publication
*
* Enables publication of static pressure and static temperature
* from the barometer sensor over UAVCAN.
*
* @boolean
* @max 1
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(CANNODE_PUB_BAR, 1);
/**
* Enable magnetometer publication
*
* Enables publication of magnetic field strength
* from the magnetometer sensor over UAVCAN.
*
* @boolean
* @max 1
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(CANNODE_PUB_MAG, 1);