Commit 0e10638c authored by Pavel Kirienko's avatar Pavel Kirienko Committed by Lorenz Meier
Browse files

Temporary fix to UAVCAN sensor prioritization issue, see #2081, #2715

parent e1f33871
......@@ -10,11 +10,11 @@
set UAVCAN_ENABLE 0
if param compare UAVCAN_ENABLE 1
then
set UAVCAN_ENABLE 1
set UAVCAN_ENABLE 1
fi
if param compare UAVCAN_ENABLE 2
then
set UAVCAN_ENABLE 2
set UAVCAN_ENABLE 2
fi
echo "[i] UAVCAN_ENABLE is $UAVCAN_ENABLE"
......@@ -26,9 +26,6 @@ if [ $UAVCAN_ENABLE -ge 1 ]
then
if uavcan start
then
# First sensor publisher to initialize takes lowest instance ID
# This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs
sleep 1
echo "[i] UAVCAN started"
else
echo "[i] ERROR: Could not start UAVCAN"
......@@ -38,11 +35,15 @@ fi
if [ $UAVCAN_ENABLE -ge 2 ]
then
if uavcan start fw
then
echo "[i] UAVCAN servers started"
else
echo "[i] ERROR: Could not start UAVCAN servers"
tone_alarm $TUNE_ERR
fi
if uavcan start fw
then
echo "[i] UAVCAN servers started"
else
echo "[i] ERROR: Could not start UAVCAN servers"
tone_alarm $TUNE_ERR
fi
fi
# First sensor publisher to initialize takes lowest instance ID
# This delay ensures that UAVCAN-interfaced sensors will be allocated on lowest instance IDs
sleep 8
......@@ -299,6 +299,11 @@ then
then
fi
#
# UAVCAN
#
sh /etc/init.d/rc.uavcan
#
# Sensors System (start before Commander so Preflight checks are properly run)
#
......@@ -491,10 +496,6 @@ then
fi
fi
# UAVCAN
#
sh /etc/init.d/rc.uavcan
#
# Logging
#
......
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