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MB Cyphal Registers

Currently no special registers

MB default registers

Name Data Type Default Value Flags Comment
mb.board.software.version String[64] Git Commit Hash - -
mb.board.hardware.version Natural8Array[2] build_target - p
mb.board.hardware.flash_date String[35] build_date m p
mb.board.hardware.mb_id String[35] hardware_id m p

MB Publisher

Name Data Type Default Value Flags Comment
uavcan.pub.navlights_sync_pulse.id CONFIG_CYPHAL_MMB_SYNC_PULSE_PORT[6076] m -
uavcan.pub.navlights_sync_pulse.type uavcan.primitive.Empty.1.0 - -
uavcan.pub.bms_sync_engage.id CONFIG_CYPHAL_HOTSWAP_ACTIVATION_PULSE_PORT[6065] m -
uavcan.pub.bms_sync_engage.type starcopter.highdra.bms.BMSSynchronizeHotSwapActivationPulse.0.1 - -
uavcan.pub.gear_state.id CONFIG_CYPHAL_GEAR_SETPOINT_PUBLISH_PORT[6091] m -
uavcan.pub.gear_state.type starcopter.GearState.0.1 - -
uavcan.pub.mb_data.id Natural16Array[1] 6080 m -
uavcan.pub.mb_data.type String[33] "starcopter.highdra.mb.MBData.0.1" - -
uavcan.pub.mb_data.dt_ms Natural16Array[1] 250 m p