Gear Controller Cyphal Registers
Register Creation
Gear Controller default registers
| name |
data_type |
default value |
flags |
comment |
| uavcan.node.id |
Natural16Array[1] |
13 (collision detection active) |
m - |
|
| uavcan.node.description |
String[255] |
"Starcopter Highdra Gear Controller" |
- - |
|
Gear Controller Publisher
| name |
data_type |
default value |
flags |
comment |
| uavcan.pub.gear_state.id |
Natural16Array[1] |
4010 |
m - |
|
| uavcan.pub.gear_state.type |
String[50] |
"starcopter.highdra.gear_controller.GearState.0.1" |
- - |
|
| uavcan.pub.gear_state.dt_ms |
Natural16Array[1] |
100 |
m p |
|
| uavcan.pub.servo_left.id |
Natural16Array[1] |
4011 |
m - |
|
| uavcan.pub.servo_left.type |
String[50] |
"starcopter.highdra.gear_controller.Servo.0.1" |
- - |
|
| uavcan.pub.servo_left.dt_ms |
Natural16Array[1] |
100 |
m p |
|
| uavcan.pub.servo_right.id |
Natural16Array[1] |
4012 |
m - |
|
| uavcan.pub.servo_right.type |
String[50] |
"starcopter.highdra.gear_controller.Servo.0.1" |
- - |
|
| uavcan.pub.servo_right.dt_ms |
Natural16Array[1] |
100 |
m p |
|
Old Firmware
┏━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━┓
┃ Name ┃ Type ┃ Value ┃ Flags ┃
┡━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━┩
│ com.starcopter.boot_id │ natural32[4] │ [3003345647, 4053392963, 332271370, 3364912565] │ │
│ com.starcopter.git_sha │ natural8[16] │ [194, 109, 169, 100, 188, 100, 167, 140, 21, 137, 13, 97, 23, 172, 81, 210] │ P │
│ com.starcopter.gnu_build_id │ natural8[16] │ [31, 136, 104, 74, 97, 105, 182, 11, 143, 139, 247, 36, 237, 82, 186, 91] │ P │
│ com.starcopter.stm32_uid │ natural32[3] │ [7077947, 1429295129, 540422993] │ P │
│ console.baud_rate │ natural32[1] │ 1000000 │ < > = M P │
│ gear.extended_position_radian │ real32[1] │ 0.0 │ = P │
│ gear.retracted_position_radian │ real32[1] │ 18.600000381469727 │ = M P │
│ log_level.console │ natural8[1] │ 1 │ < > = M P │
│ log_level.uavcan │ natural8[1] │ 3 │ < > = M P │
│ motor.gear_ratio │ real32[1] │ 3575.0 │ = M P │
│ motor.polarity │ integer8[2] │ [1, -1] │ = M P │
│ servo.position_hyst │ real32[2] │ [0.05000000074505806, 0.10000000149011612] │ = M P │
│ servo.position_p │ real32[1] │ 5.0 │ = M P │
│ servo.velocity_crawl │ real32[1] │ 1.0 │ = M P │
│ servo.velocity_max │ real32[1] │ 8.0 │ = M P │
│ servo.velocity_pid │ real32[3] │ [0.10000000149011612, 0.10000000149011612, 0.0010000000474974513] │ = M P │
│ uavcan.can.bitrate │ natural32[2] │ [1000000, 5000000] │ < > = P │
│ uavcan.node.id │ natural16[1] │ 14 │ < > = M P │
│ uavcan.pub.feedback.id │ natural16[1] │ 6070 │ = M P │
│ uavcan.pub.feedback.type │ string │ 'starcopter.ServoMultiTs.0.1' │ P │
│ uavcan.pub.system_status.id │ natural16[1] │ 6071 │ = M P │
│ uavcan.pub.system_status.type │ string │ 'starcopter.aeric.gear_controller.SystemStatus.0.1' │ P │
│ uavcan.pub.timekeeper_status.id │ natural16[1] │ 65535 │ = M P │
│ uavcan.pub.timekeeper_status.type │ string │ 'starcopter.TimekeeperStatus.0.1' │ P │
│ uavcan.sub.gear_state.id │ natural16[1] │ 6091 │ = M P │
│ uavcan.sub.gear_state.type │ string │ 'starcopter.GearState.0.1' │ P │
└───────────────────────────────────┴──────────────┴─────────────────────────────────────────────────────────────────────────────┴───────────┘