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Ardupilot messages generation #65

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Merged
PonomarevDA merged 7 commits into from
Apr 28, 2026
Merged

Ardupilot messages generation #65

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7b00de2
feat: ardupilot message generation
Ilyhadev Apr 27, 2026
74fada7
feat: add BeginFirmwareUpdate
PonomarevDA Mar 11, 2026
8c2ef6a
feat: add more pubs and subs
PonomarevDA Apr 14, 2026
d167f08
fix: update node status pub rate from 2 hz to 1 hz
PonomarevDA Apr 14, 2026
6551202
feat: ardupilot message generation
Ilyhadev Apr 27, 2026
53d0509
fix: rm redundant definition
Ilyhadev Apr 27, 2026
1dbe28d
Merge branch 'main' into pr-add-ardupilot
Ilyhadev Apr 27, 2026
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5 changes: 4 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,10 @@ project(libdcnode VERSION 0.6.0 LANGUAGES C CXX)
#
# 1. Generate DSDL
#
set(DSDL_IN_DIR "${CMAKE_CURRENT_LIST_DIR}/Libs/DSDL/uavcan")
set(DSDL_IN_DIRS
"${CMAKE_CURRENT_LIST_DIR}/Libs/DSDL/uavcan"
"${CMAKE_CURRENT_LIST_DIR}/Libs/DSDL/ardupilot"
)
set(DSDL_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/generated/libdcnode/serialization")
set(DSDL_COMPILER "${CMAKE_CURRENT_LIST_DIR}/Libs/dronecan_dsdlc/dronecan_dsdlc.py")
include(${CMAKE_CURRENT_LIST_DIR}/cmake/generate_dsdl.cmake)
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2 changes: 1 addition & 1 deletion cmake/generate_dsdl.cmake
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Expand Up @@ -22,7 +22,7 @@ endif()
if(_run_dsdlc)
message(STATUS "Generating DSDL sources into: ${DSDL_OUT_DIR}")
execute_process(
COMMAND ${DSDL_COMPILER} -O ${DSDL_OUT_DIR} ${DSDL_IN_DIR}
COMMAND ${DSDL_COMPILER} -O ${DSDL_OUT_DIR} ${DSDL_IN_DIRS}
RESULT_VARIABLE ret
)
if(NOT ret EQUAL 0)
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3 changes: 2 additions & 1 deletion include/libdcnode/pub.hpp
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Expand Up @@ -19,7 +19,7 @@
// Max encoded message size (bytes) for publisher stack buffer.
// Override via -DLIBDCNODE_MAX_PUB_MESSAGE_SIZE=... if your DSDL set requires more.
#ifndef LIBDCNODE_MAX_PUB_MESSAGE_SIZE
#define LIBDCNODE_MAX_PUB_MESSAGE_SIZE 250U
#define LIBDCNODE_MAX_PUB_MESSAGE_SIZE 600U
#endif

// Initial delay before first publish after boot/reset (ms).
Expand Down Expand Up @@ -67,6 +67,7 @@ namespace libdcnode
LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_actuator_Status, UAVCAN_EQUIPMENT_ACTUATOR_STATUS)
LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_esc_Status, UAVCAN_EQUIPMENT_ESC_STATUS)
LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_hardpoint_Status, UAVCAN_EQUIPMENT_HARDPOINT_STATUS)
LIBDCNODE_DEFINE_PUB_TRAITS(::ardupilot_equipment_power_BatteryInfoAux, ARDUPILOT_EQUIPMENT_POWER_BATTERYINFOAUX)
LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_air_data_StaticPressure,
UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE)
LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_range_sensor_Measurement,
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