implement cannode hardpoint commands

[dirksavage88]

Solved Problem

UAVCANNODE in px4 does not handle the hardpoint commands currently, only servo and motor array commands

Solution

Create a separate hardpoint command subscriber in the cannode driver

Changelog Entry

For release notes:

Feature: Implement cannode hardpoint subscriber
Documentation: PX4 cannode hardpoint command support

Alternatives

Test coverage

Context

[dakejahl]

do we want to enable it on any board?

[dirksavage88]

Yes, I have been testing on the ark cannode. It seems to have enough flash onboard

[dirksavage88]

added to the ark cannode

[dakejahl]

instead of separate if/else blocks with duplicate logic you could instead get clever with the for loop, when it's broadcast you set the bounds from 0 to actuator_servos_s::NUM_CONTROLS and when it's targeted you'd set the bounds from servo_id to servo_id+1 (therefore the loop starts at the servo_id and ends immediately after)

[dirksavage88]

I made some changes to hopefully simplify

[hamishwillee]

I assume this will need docs?

[dirksavage88]

@dakejahl the hardpoint id is never set in the payload deliverer module. According to mavlink spec, hardpoint id of 0 is broadcast. and that is what I am seeing as the default as it is never explicitly set (param1):

PX4-Autopilot/src/modules/payload_deliverer/payload_deliverer.cpp

Line 241 in 40dc011

vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GRIPPER;

Mavlink spec for gripper: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_GRIPPER

[dirksavage88]

I assume this will need docs?

Yes, there are no docs currently on hardpoint via dronecan

[dirksavage88]

@alexcekay would you mind looking this over? I think Jacob Dahl is on vacation.

[hamishwillee]

I assume this will need docs?

Yes, there are no docs currently on hardpoint via dronecan

@dirksavage88 Great. I will leave for you to create and I will subedit. So "hardpoint" means "autopilot-connected" with a specific identity?