UAVCAN - Revision history

OlliW: /* UAVCAN Messages */

2018-08-07T11:37:08Z

UAVCAN Messages

← Older revision		Revision as of 13:37, 7 August 2018
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	== UAVCAN Messages ==		== UAVCAN Messages ==

	The STorM32 controller supports the UAVCAN [http://uavcan.org/Specification/7._List_of_standard_data_types/ standard data types] which are needed for basic operation, as well as the tunnel.Broadcast and ~~protocol.~~debug.~~LogMessagedata~~ types.		The STorM32 controller supports the UAVCAN [http://uavcan.org/Specification/7._List_of_standard_data_types/ standard data types] which are needed for basic operation, as well as the tunnel.Broadcast and debug.LogMessage data types.

	==== NodeStatus (BC, ID 341) ====		==== NodeStatus (BC, ID 341) ====
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	This message appears to not yet have been finally released to the official standard. It is most important though, since it provides the backbone for the communication with the STorM32 controller via UAVCAN. The STorM32 essentially implements a UAVCAN-UART bridge.		This message appears to not yet have been finally released to the official standard. It is most important though, since it provides the backbone for the communication with the STorM32 controller via UAVCAN. The STorM32 essentially implements a UAVCAN-UART bridge.

			==== debug.LogMessage (BC, ID 16383) ====

			See [https://uavcan.org/Specification/7._List_of_standard_data_types/#logmessage uavcan.protocol.debug.LogMessage].

	== STorM32 Data Types ==		== STorM32 Data Types ==

OlliW: /* UAVCAN Messages */

2018-08-07T11:34:56Z

UAVCAN Messages

← Older revision		Revision as of 13:34, 7 August 2018
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	== UAVCAN Messages ==		== UAVCAN Messages ==

	The STorM32 controller supports the UAVCAN [http://uavcan.org/Specification/7._List_of_standard_data_types/ standard data types] which are needed for basic operation, as well as the tunnel.Broadcast ~~data type~~.		The STorM32 controller supports the UAVCAN [http://uavcan.org/Specification/7._List_of_standard_data_types/ standard data types] which are needed for basic operation, as well as the tunnel.Broadcast and protocol.debug.LogMessagedata types.

	==== NodeStatus (BC, ID 341) ====		==== NodeStatus (BC, ID 341) ====

OlliW at 11:34, 7 August 2018

2018-08-07T11:34:00Z

← Older revision		Revision as of 13:34, 7 August 2018
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	{{PARAMNAME\|NodeStatus Rate}}: <br> Sets the rate at which the [http://uavcan.org/Specification/7._List_of_standard_data_types/#nodestatus uavcan.protocol.NodeStatus] message is emitted (default = 1000). A value of 1000 means that a message is broadcasted every 1000 ms.		{{PARAMNAME\|NodeStatus Rate}}: <br> Sets the rate at which the [http://uavcan.org/Specification/7._List_of_standard_data_types/#nodestatus uavcan.protocol.NodeStatus] message is emitted (default = 1000). A value of 1000 means that a message is broadcasted every 1000 ms.

	{{PARAMNAME\|GimbalStatus Rate}}: <br> Sets the rate at which the [[#~~olliw_storm32_Status_(BC,_ID 8300)~~ \| olliw.storm32.Status]] message is emitted (default = 500). A value of 500 means that a message is broadcasted every 500 ms. A value of 0 deactivates the emission of the message.		{{PARAMNAME\|GimbalStatus Rate}}: <br> Sets the rate at which the [[#olliw.storm32.Status_.28BC.2C_ID_8300.29 \| olliw.storm32.Status]] message is emitted (default = 500). A value of 500 means that a message is broadcasted every 500 ms. A value of 0 deactivates the emission of the message.

	{{PARAMNAME\|Debug}}: <br> A value of 1 enables the emission of [https://uavcan.org/Specification/7._List_of_standard_data_types/#logmessage uavcan.protocol.debug.LogMessage] messages. A value of 0 deactivates the emission of the message.		{{PARAMNAME\|Debug}}: <br> A value of 1 enables the emission of [https://uavcan.org/Specification/7._List_of_standard_data_types/#logmessage uavcan.protocol.debug.LogMessage] messages. A value of 0 deactivates the emission of the message.

OlliW: /* UAVCAN Parameters */

2018-08-07T11:32:28Z

UAVCAN Parameters

← Older revision		Revision as of 13:32, 7 August 2018
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	{{PARAMNAME\|NodeStatus Rate}}: <br> Sets the rate at which the [http://uavcan.org/Specification/7._List_of_standard_data_types/#nodestatus uavcan.protocol.NodeStatus] message is emitted (default = 1000). A value of 1000 means that a message is broadcasted every 1000 ms.		{{PARAMNAME\|NodeStatus Rate}}: <br> Sets the rate at which the [http://uavcan.org/Specification/7._List_of_standard_data_types/#nodestatus uavcan.protocol.NodeStatus] message is emitted (default = 1000). A value of 1000 means that a message is broadcasted every 1000 ms.

	{{PARAMNAME\|GimbalStatus Rate}}: <br> Sets the rate at which the olliw.storm32.Status message is emitted (default = 500). A value of 500 means that a message is broadcasted every 500 ms. A value of 0 deactivates the emission of the message.		{{PARAMNAME\|GimbalStatus Rate}}: <br> Sets the rate at which the [[#olliw_storm32_Status_(BC,_ID 8300) \| olliw.storm32.Status]] message is emitted (default = 500). A value of 500 means that a message is broadcasted every 500 ms. A value of 0 deactivates the emission of the message.

	{{PARAMNAME\|Debug}}: <br> A value of 1 enables the emission of [https://uavcan.org/Specification/7._List_of_standard_data_types/#logmessage uavcan.protocol.debug.LogMessage] messages. A value of 0 deactivates the emission of the message.		{{PARAMNAME\|Debug}}: <br> A value of 1 enables the emission of [https://uavcan.org/Specification/7._List_of_standard_data_types/#logmessage uavcan.protocol.debug.LogMessage] messages. A value of 0 deactivates the emission of the message.

OlliW: /* UAVCAN Parameters */

2018-08-07T11:31:17Z

UAVCAN Parameters

← Older revision		Revision as of 13:31, 7 August 2018
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	=== UAVCAN Parameters ===		=== UAVCAN Parameters ===

	The parameters in the UAVCAN section can be accessed e.g. using the [http://uavcan.org/GUI_Tool/Overview/ UAVCAN GUI Tool], and a SLCAN adapter. A [http://www.olliw.eu/2017/uavcan-for-hobbyists/ ~~uc4h~~ SLCAN adapter] is probably the cheapest option, for ~~a advanced~~ option see the [https://kb.zubax.com/display/MAINKB/Zubax+Babel Zubax Babel].		The parameters in the UAVCAN section can be accessed e.g. using the [http://uavcan.org/GUI_Tool/Overview/ UAVCAN GUI Tool], and a SLCAN adapter. A [http://www.olliw.eu/2017/uavcan-for-hobbyists/ UC4H SLCAN adapter] is probably the cheapest option, for an expensive option see the [https://kb.zubax.com/display/MAINKB/Zubax+Babel Zubax Babel].

	{{PARAMNAME\|NodeId}}: <br> Sets the node ID of the STorM32 controller (default = 71). Dynamic node allocation is not supported. The range of allowed IDs is restricted to 11 - 124. The STorM32 board needs to be reset for a change to become effective.		{{PARAMNAME\|NodeId}}: <br> Sets the node ID of the STorM32 controller (default = 71). Dynamic node allocation is not supported. The range of allowed IDs is restricted to 11 - 124. The STorM32 board needs to be reset for a change to become effective.
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	{{PARAMNAME\|GimbalStatus Rate}}: <br> Sets the rate at which the olliw.storm32.Status message is emitted (default = 500). A value of 500 means that a message is broadcasted every 500 ms. A value of 0 deactivates the emission of the message.		{{PARAMNAME\|GimbalStatus Rate}}: <br> Sets the rate at which the olliw.storm32.Status message is emitted (default = 500). A value of 500 means that a message is broadcasted every 500 ms. A value of 0 deactivates the emission of the message.

			{{PARAMNAME\|Debug}}: <br> A value of 1 enables the emission of [https://uavcan.org/Specification/7._List_of_standard_data_types/#logmessage uavcan.protocol.debug.LogMessage] messages. A value of 0 deactivates the emission of the message.

	== UAVCAN Messages ==		== UAVCAN Messages ==

OlliW: /* UAVCAN Parameters */

2018-08-07T11:27:49Z

UAVCAN Parameters

← Older revision		Revision as of 13:27, 7 August 2018
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	{{PARAMNAME\|NodeStatus Rate}}: <br> Sets the rate at which the [http://uavcan.org/Specification/7._List_of_standard_data_types/#nodestatus uavcan.protocol.NodeStatus] message is emitted (default = 1000). A value of 1000 means that a message is broadcasted every 1000 ms.		{{PARAMNAME\|NodeStatus Rate}}: <br> Sets the rate at which the [http://uavcan.org/Specification/7._List_of_standard_data_types/#nodestatus uavcan.protocol.NodeStatus] message is emitted (default = 1000). A value of 1000 means that a message is broadcasted every 1000 ms.

	{{PARAMNAME\|GimbalStatus Rate}}: <br> Sets the rate at which the storm32.~~GimbalStatus~~ message is emitted (default = 500). A value of 500 means that a message is broadcasted every 500 ms. A value of 0 deactivates the emission of the message.		{{PARAMNAME\|GimbalStatus Rate}}: <br> Sets the rate at which the olliw.storm32.Status message is emitted (default = 500). A value of 500 means that a message is broadcasted every 500 ms. A value of 0 deactivates the emission of the message.

	== UAVCAN Messages ==		== UAVCAN Messages ==

OlliW: /* STorM32 Data Types */

2018-08-07T11:26:42Z

STorM32 Data Types

← Older revision		Revision as of 13:26, 7 August 2018
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	== STorM32 Data Types ==		== STorM32 Data Types ==

	The STorM32 specific data types ~~used~~ in ~~older versions are deprecated; this section is only kept for reference~~.		The STorM32 supports also some STorM32 specific data types, which are located in the name space olliw.storm32.

	~~{{COMMENT\|It is not claimed that the STorM32 specific data types are the last conclusion of wisdom; they are open for discussion~~. ~~They may however suggest a skeleton for standard definitions~~.}}		==== olliw.storm32.Status (BC, ID 8300) ====

	{{COMMENT\|Currently the ArduPilot build system does not seem to allow using vendor-specific UAVCAN messages, at least I could not figure that out. I thus had to move the STorM32 specific messages listed here to the name space "uavcan" of the standard data types, in order to realize a communication between ArduPilot and STorM32 (see [~~https://discuss.ardupilot.org/t/arducopter-controls-storm32-gimbal-by-uavcan/20143 ArduCopter controls STorM32 gimbal by UAVCAN~~]). This however affected the signatures, and thus: (1) The UAVCAN messages in firmware v2.31e are not compatible with those in v2.30. (2) This is (hopefully) going to change in future versions. In short: For as long as the UAVCAN message set has not stabilized, one has to carefully pay attention to versions .}}		uint8 gimbal_id
			uint8 mode
			uint32 status
			uint8 orientation_type
			float32[4] orientation
			float32[<=3] angular_velocity

	~~==== storm32~~.~~Status (BC~~, ~~ID 8300) ====~~		Reports the camera orientation. Default is angles in degrees, and yaw angle relative to the gimbal frame or the vehicle.

	~~# Gimbal Attitude, angles in degrees +-180°~~, ~~in gimbal frame.~~		==== olliw.storm32.Control (BC, ID 8301) ====
	~~float32 pitch_deg~~
	~~float32 roll_deg~~
	~~float32 yaw_deg~~

	~~Reports the camera angles in degrees. The yaw angle is relative to the gimbal frame or vehicle~~ orientation.		uint8 gimbal_id
			uint8 mode
			uint8 control_mode
			float32[4] orientation
			float32[<=3] angular_velocity

	~~==== storm32~~.~~Control (BC~~, ~~ID 8301) ====~~		Moves the camera to the given orientation.<!-- The yaw angle is relative to the gimbal frame or vehicle orientation. It works like a CMD_SETANGLE command, see [[Inputs_and_Functions#Rc_Input_Processing\|Inputs and Functions: Rc Input Processing]].-->

	~~# Gimbal Attitude, angles in degrees +-180°~~, ~~in gimbal frame.~~		==== olliw.storm32.Command (BC, ID 8302) ====
	~~float32 pitch_deg~~
	~~float32 roll_deg~~
	~~float32 yaw_deg~~

	~~Moves the camera to the given orientation. The yaw angle is relative to the~~ gimbal ~~frame or vehicle orientation. It works like a CMD_SETANGLE command, see [~~[~~Inputs_and_Functions#Rc_Input_Processing\|Inputs and Functions: Rc Input Processing]~~].		uint8 gimbal_id #0 means broadcast, any gimbal should listen
			uint8[<=128] payload

	~~==== storm32~~.~~NodeSpecific~~ (~~BC, ID 8302~~) ~~====~~		The payload can correspond to any of the [[Serial_Communication#Serial_Communication_-_Simple_Commands\|simple serial]] or [[Serial_Communication#Serial_Communication_-_RC_Commands\|RC commands]], with the crc word stripped off (the crc is not needed since the message is already protected by UAVCAN]. Only commands of lengths less or equal 128 bytes can be handled (this excludes e.g. the 'p' command). The response of the STorM32 controller to the received command is packed into and send out as a olliw.storm32.CommandAck data type.

	~~# Node Specific~~		==== olliw.storm32.CommandAck (BC, ID 8303) ====
	~~uint8[<~~=~~64] payload~~

	~~The payload can correspond to any of the [[Serial_Communication~~#~~Serial_Communication_-_Simple_Commands\|simple serial]] or [[Serial_Communication#Serial_Communication_-_RC_Commands\|RC commands]]~~, ~~with the crc word stripped off (the crc is not needed since the message is already protected~~ by ~~UAVCAN]. Only commands~~ of ~~lengths less or equal 64 bytes can be handled (this excludes e.g.~~ the ~~'p' command). The response of the STorM32 controller to the received command is packed into and send out as a storm32.NodeSpecificAck data type.~~		uint8 gimbal_id #it cannot be zero, it must by a unique id of the gimbal
			uint8[<=128] payload

	~~==== storm32~~.~~NodeSpecificAck~~ (~~BC, ID 8303~~) ~~====~~		The payload holds the response to any of the [[Serial_Communication#Serial_Communication_-_Simple_Commands\|simple serial]] or [[Serial_Communication#Serial_Communication_-_RC_Commands\|RC commands]], with the crc word stripped off. Only responses of lengths less or equal 128 bytes can be handled (this excludes e.g. the 'g' command).

	~~# Node Specific Ack~~		=== Comments on STorM32 specific UAVCAN Data Types ===
	~~uint8 initiator_node_id~~
	~~uint8[<~~=~~64] payload~~

	~~The payload holds the response to any of the [[Serial_Communication#Serial_Communication_-_Simple_Commands\|simple serial]] or [[Serial_Communication#Serial_Communication_-_RC_Commands\|RC commands]]~~, with the crc word stripped off. Only responses of lengths less or equal 64 bytes can be handled (this excludes e.g. the 'g' command). The initiator_node_id holds the id of the node, which emitted the storm32.NodeSpecific message to which this is the response.		==== Status, Control ====

	~~=== Comments on~~ STorM32 specific ~~UAVCAN Data Types ===~~		I was considering supporting the camera_gimbal standard data types. However, they use only float16 for the quaternion and more seriously expect frames which gimbals generally cannot support, except in special situations. They are thus totally useless in practical terms, and there are no signs that useful standard data types would ever come to live. Hence the STorM32 specific data types.

	==== ~~NodeSpecific~~, ~~NodeSpecificAck~~ ====		==== Command, CommandAck ====

	This set of messages provides access to all features of the STorM32 controller which are accessible via serial commands, and thus establish a powerful message set. They function very similar to the MAV_CMD_TARGET_SPECIFIC Mavlink command, so please read [[Serial_Communication#Comments_on_STorM32_specific_Mavlink_Messages\|Comments on STorM32 specific Mavlink Messages]].		This set of messages provides access to all features of the STorM32 controller which are accessible via serial commands, and thus establish a powerful message set. They function very similar to the MAV_CMD_TARGET_SPECIFIC Mavlink command, so please read [[Serial_Communication#Comments_on_STorM32_specific_Mavlink_Messages\|Comments on STorM32 specific Mavlink Messages]]. The same task can be accomplished with using the tunnel.Broadcast data type, but the STorM32 specific Command data types are somewhat denser and allow a somewhat faster handling, and thus are retained.

	'''''Example'''''		'''''Example'''''
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	0xFA 0x06 0x12 0x00 0x00 0x00 0x00 0x00 0x00 crc-low-byte crc-high-byte		0xFA 0x06 0x12 0x00 0x00 0x00 0x00 0x00 0x00 crc-low-byte crc-high-byte

	to any of the serial ports (USB, Uart, ...), or by sending a storm32.~~NodeSpecific~~ message to the CAN port, with the payload set to		to any of the serial ports (USB, Uart, ...), or by sending a olliw.storm32.Command message to the CAN port, with the payload set to

	0xFA 0x06 0x12 0x00 0x00 0x00 0x00 0x00 0x00		0xFA 0x06 0x12 0x00 0x00 0x00 0x00 0x00 0x00

	In the latter case, the STorM32 controller will respond with emitting a storm32.~~NodeSpecificAck~~ message on the CAN port, with the payload set to		In the latter case, the STorM32 controller will respond with emitting a olliw.storm32.CommandAck message on the CAN port, with the payload set to

	0xFB 0x01 0x96 0x00		0xFB 0x01 0x96 0x00

OlliW at 21:38, 19 July 2018

2018-07-19T21:38:41Z

← Older revision		Revision as of 23:38, 19 July 2018
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	''The information on this page refers to firmware v2.30 and higher.''		''The information on this page refers to firmware v2.40 and higher.''

	The STorM32 gimbal controller supports [http://uavcan.org/ UAVCAN]. This allows communicating with the STorM32 ~~board~~ through a [https://de.wikipedia.org/wiki/Controller_Area_Network CAN] bus, very similar to the communication through the [[Serial_Communication\|serial interfaces]] or [[Using_a_ESP8266_Wifi_Module\|Wifi]].		The STorM32 gimbal controller supports [http://uavcan.org/ UAVCAN]. This allows communicating with the STorM32 controller through a [https://de.wikipedia.org/wiki/Controller_Area_Network CAN] bus, very similar to the communication through the [[Serial_Communication\|serial interfaces]] or [[Using_a_ESP8266_Wifi_Module\|Wifi]].

	<div class="toclimit-2">__TOC__</div>		<div class="toclimit-2">__TOC__</div>
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	== Configuration ==		== Configuration ==

	The STorM32 parameters, which are related to UAVCAN, are split into the "normal" and the "UAVCAN" parameter sections. The parameters in the normal section are accessible like all the other parameters, e.g. via the GUI. The parameters in the UAVCAN section are however accessible only by using UAVCAN's [http://uavcan.org/Specification/6._Application_level_functions/#node-configuration Node configuration] mechanism. The two parameter sections are exclusive, that is, a parameter is either in the one or the other section, but not in both. The single exception is the {{PARAMNAME\|Uavcan Node ID}} parameter, which can be configured by either mechanism.		The STorM32 parameters, which are related to UAVCAN, are split into the 'normal' and the 'UAVCAN' parameter sections. The parameters in the normal section are accessible like all the other parameters, e.g. via the GUI. The parameters in the UAVCAN section are however accessible only by using UAVCAN's [http://uavcan.org/Specification/6._Application_level_functions/#node-configuration Node configuration] mechanism. The two parameter sections are exclusive, that is, a parameter is either in the one or the other section, but not in both. The single exception is the {{PARAMNAME\|Uavcan Node ID}} parameter, which can be configured by either mechanism.

	=== GUI Parameters ===		=== GUI Parameters ===
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	== UAVCAN Messages ==		== UAVCAN Messages ==

	The STorM32 controller supports the UAVCAN [http://uavcan.org/Specification/7._List_of_standard_data_types/ standard data types] which are needed for basic operation, as well as ~~some STorM32 specific data types~~.		The STorM32 controller supports the UAVCAN [http://uavcan.org/Specification/7._List_of_standard_data_types/ standard data types] which are needed for basic operation, as well as the tunnel.Broadcast data type.

	~~{{COMMENT\|It is not claimed that the STorM32 specific~~ data ~~types are the last conclusion of wisdom; they are open for discussion. They may however suggest a skeleton for standard definitions~~.}}

	~~=== Standard Data Types ===~~

	==== NodeStatus (BC, ID 341) ====		==== NodeStatus (BC, ID 341) ====
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	See [http://uavcan.org/Specification/7._List_of_standard_data_types/#getset uavcan.protocol.param.GetSet].		See [http://uavcan.org/Specification/7._List_of_standard_data_types/#getset uavcan.protocol.param.GetSet].

	=== STorM32 Data Types ===		==== tunnel.Broadcast (BC, ID 2010) ====

			See [https://github.com/UAVCAN/dsdl/tree/master/uavcan/tunnel uavcan.tunnel.Broadcast].

			This message appears to not yet have been finally released to the official standard. It is most important though, since it provides the backbone for the communication with the STorM32 controller via UAVCAN. The STorM32 essentially implements a UAVCAN-UART bridge.

			== STorM32 Data Types ==

			The STorM32 specific data types used in older versions are deprecated; this section is only kept for reference.

			{{COMMENT\|It is not claimed that the STorM32 specific data types are the last conclusion of wisdom; they are open for discussion. They may however suggest a skeleton for standard definitions.}}

	{{COMMENT\|Currently the ArduPilot build system does not seem to allow using vendor-specific UAVCAN messages, at least I could not figure that out. I thus had to move the STorM32 specific messages listed here to the name space "uavcan" of the standard data types, in order to realize a communication between ArduPilot and STorM32 (see [https://discuss.ardupilot.org/t/arducopter-controls-storm32-gimbal-by-uavcan/20143 ArduCopter controls STorM32 gimbal by UAVCAN]). This however affected the signatures, and thus: (1) The UAVCAN messages in firmware v2.31e are not compatible with those in v2.30. (2) This is (hopefully) going to change in future versions. In short: For as long as the UAVCAN message set has not stabilized, one has to carefully pay attention to versions .}}		{{COMMENT\|Currently the ArduPilot build system does not seem to allow using vendor-specific UAVCAN messages, at least I could not figure that out. I thus had to move the STorM32 specific messages listed here to the name space "uavcan" of the standard data types, in order to realize a communication between ArduPilot and STorM32 (see [https://discuss.ardupilot.org/t/arducopter-controls-storm32-gimbal-by-uavcan/20143 ArduCopter controls STorM32 gimbal by UAVCAN]). This however affected the signatures, and thus: (1) The UAVCAN messages in firmware v2.31e are not compatible with those in v2.30. (2) This is (hopefully) going to change in future versions. In short: For as long as the UAVCAN message set has not stabilized, one has to carefully pay attention to versions .}}
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	The payload holds the response to any of the [[Serial_Communication#Serial_Communication_-_Simple_Commands\|simple serial]] or [[Serial_Communication#Serial_Communication_-_RC_Commands\|RC commands]], with the crc word stripped off. Only responses of lengths less or equal 64 bytes can be handled (this excludes e.g. the 'g' command). The initiator_node_id holds the id of the node, which emitted the storm32.NodeSpecific message to which this is the response.		The payload holds the response to any of the [[Serial_Communication#Serial_Communication_-_Simple_Commands\|simple serial]] or [[Serial_Communication#Serial_Communication_-_RC_Commands\|RC commands]], with the crc word stripped off. Only responses of lengths less or equal 64 bytes can be handled (this excludes e.g. the 'g' command). The initiator_node_id holds the id of the node, which emitted the storm32.NodeSpecific message to which this is the response.

	== Comments on STorM32 specific UAVCAN Data Types ==		=== Comments on STorM32 specific UAVCAN Data Types ===

	==== NodeSpecific, NodeSpecificAck ====		==== NodeSpecific, NodeSpecificAck ====

OlliW: /* STorM32 Data Types */

2017-08-20T05:29:36Z

STorM32 Data Types

← Older revision		Revision as of 07:29, 20 August 2017
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	=== STorM32 Data Types ===		=== STorM32 Data Types ===

			{{COMMENT\|Currently the ArduPilot build system does not seem to allow using vendor-specific UAVCAN messages, at least I could not figure that out. I thus had to move the STorM32 specific messages listed here to the name space "uavcan" of the standard data types, in order to realize a communication between ArduPilot and STorM32 (see [https://discuss.ardupilot.org/t/arducopter-controls-storm32-gimbal-by-uavcan/20143 ArduCopter controls STorM32 gimbal by UAVCAN]). This however affected the signatures, and thus: (1) The UAVCAN messages in firmware v2.31e are not compatible with those in v2.30. (2) This is (hopefully) going to change in future versions. In short: For as long as the UAVCAN message set has not stabilized, one has to carefully pay attention to versions .}}

	==== storm32.Status (BC, ID 8300) ====		==== storm32.Status (BC, ID 8300) ====

OlliW: /* UAVCAN Parameters */

2017-07-31T13:40:24Z

UAVCAN Parameters

← Older revision		Revision as of 15:40, 31 July 2017
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	=== UAVCAN Parameters ===		=== UAVCAN Parameters ===

	The parameters in the UAVCAN section can be accessed e.g. using the [http://uavcan.org/GUI_Tool/Overview/ UAVCAN GUI Tool], and a SLCAN adapter. A [http://www.olliw.eu/2017/uavcan-for-hobbyists/ uc4h SLCAN adapter] is probably the cheapest option, an advanced option is the [https://kb.zubax.com/display/MAINKB/Zubax+Babel Zubax Babel].		The parameters in the UAVCAN section can be accessed e.g. using the [http://uavcan.org/GUI_Tool/Overview/ UAVCAN GUI Tool], and a SLCAN adapter. A [http://www.olliw.eu/2017/uavcan-for-hobbyists/ uc4h SLCAN adapter] is probably the cheapest option, for a advanced option see the [https://kb.zubax.com/display/MAINKB/Zubax+Babel Zubax Babel].

	{{PARAMNAME\|NodeId}}: <br> Sets the node ID of the STorM32 controller (default = 71). Dynamic node allocation is not supported. The range of allowed IDs is restricted to 11 - 124. The STorM32 board needs to be reset for a change to become effective.		{{PARAMNAME\|NodeId}}: <br> Sets the node ID of the STorM32 controller (default = 71). Dynamic node allocation is not supported. The range of allowed IDs is restricted to 11 - 124. The STorM32 board needs to be reset for a change to become effective.

← Older revision		Revision as of 13:34, 7 August 2018
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	{{PARAMNAME\|NodeStatus Rate}}: <br> Sets the rate at which the [http://uavcan.org/Specification/7._List_of_standard_data_types/#nodestatus uavcan.protocol.NodeStatus] message is emitted (default = 1000). A value of 1000 means that a message is broadcasted every 1000 ms.		{{PARAMNAME\|NodeStatus Rate}}: <br> Sets the rate at which the [http://uavcan.org/Specification/7._List_of_standard_data_types/#nodestatus uavcan.protocol.NodeStatus] message is emitted (default = 1000). A value of 1000 means that a message is broadcasted every 1000 ms.

	{{PARAMNAME\|GimbalStatus Rate}}: <br> Sets the rate at which the [[#~~olliw_storm32_Status_(BC,_ID 8300)~~ \| olliw.storm32.Status]] message is emitted (default = 500). A value of 500 means that a message is broadcasted every 500 ms. A value of 0 deactivates the emission of the message.		{{PARAMNAME\|GimbalStatus Rate}}: <br> Sets the rate at which the [[#olliw.storm32.Status_.28BC.2C_ID_8300.29 \| olliw.storm32.Status]] message is emitted (default = 500). A value of 500 means that a message is broadcasted every 500 ms. A value of 0 deactivates the emission of the message.

	{{PARAMNAME\|Debug}}: <br> A value of 1 enables the emission of [https://uavcan.org/Specification/7._List_of_standard_data_types/#logmessage uavcan.protocol.debug.LogMessage] messages. A value of 0 deactivates the emission of the message.		{{PARAMNAME\|Debug}}: <br> A value of 1 enables the emission of [https://uavcan.org/Specification/7._List_of_standard_data_types/#logmessage uavcan.protocol.debug.LogMessage] messages. A value of 0 deactivates the emission of the message.

← Older revision		Revision as of 13:32, 7 August 2018
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	{{PARAMNAME\|NodeStatus Rate}}: <br> Sets the rate at which the [http://uavcan.org/Specification/7._List_of_standard_data_types/#nodestatus uavcan.protocol.NodeStatus] message is emitted (default = 1000). A value of 1000 means that a message is broadcasted every 1000 ms.		{{PARAMNAME\|NodeStatus Rate}}: <br> Sets the rate at which the [http://uavcan.org/Specification/7._List_of_standard_data_types/#nodestatus uavcan.protocol.NodeStatus] message is emitted (default = 1000). A value of 1000 means that a message is broadcasted every 1000 ms.

	{{PARAMNAME\|GimbalStatus Rate}}: <br> Sets the rate at which the olliw.storm32.Status message is emitted (default = 500). A value of 500 means that a message is broadcasted every 500 ms. A value of 0 deactivates the emission of the message.		{{PARAMNAME\|GimbalStatus Rate}}: <br> Sets the rate at which the [[#olliw_storm32_Status_(BC,_ID 8300) \| olliw.storm32.Status]] message is emitted (default = 500). A value of 500 means that a message is broadcasted every 500 ms. A value of 0 deactivates the emission of the message.

	{{PARAMNAME\|Debug}}: <br> A value of 1 enables the emission of [https://uavcan.org/Specification/7._List_of_standard_data_types/#logmessage uavcan.protocol.debug.LogMessage] messages. A value of 0 deactivates the emission of the message.		{{PARAMNAME\|Debug}}: <br> A value of 1 enables the emission of [https://uavcan.org/Specification/7._List_of_standard_data_types/#logmessage uavcan.protocol.debug.LogMessage] messages. A value of 0 deactivates the emission of the message.