From 6445d5801ff253f5983a4ade90e5c68d4b6c203e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 18 May 2023 10:14:43 +1000 Subject: [PATCH 1/2] ESC: clarify esc_index --- uavcan/equipment/esc/1034.Status.uavcan | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/uavcan/equipment/esc/1034.Status.uavcan b/uavcan/equipment/esc/1034.Status.uavcan index fad4159..b15947b 100644 --- a/uavcan/equipment/esc/1034.Status.uavcan +++ b/uavcan/equipment/esc/1034.Status.uavcan @@ -13,4 +13,4 @@ int18 rpm # Negative value indicates reverse rotation uint7 power_rating_pct # Instant demand factor in percent (percent of maximum power); range 0% to 127%. -uint5 esc_index +uint5 esc_index # zero is first ESC. This should match the index into the cmd[] array in RawCommand From ad48aafbfae2b4ed60ee9aa7894efc024ed5ac74 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 18 May 2023 10:39:30 +1000 Subject: [PATCH 2/2] param: clarify that implementors may choose to make all param set persistent --- uavcan/protocol/param/10.ExecuteOpcode.uavcan | 5 +++++ uavcan/protocol/param/11.GetSet.uavcan | 3 +++ 2 files changed, 8 insertions(+) diff --git a/uavcan/protocol/param/10.ExecuteOpcode.uavcan b/uavcan/protocol/param/10.ExecuteOpcode.uavcan index 204cd12..cfa8fc8 100644 --- a/uavcan/protocol/param/10.ExecuteOpcode.uavcan +++ b/uavcan/protocol/param/10.ExecuteOpcode.uavcan @@ -10,6 +10,11 @@ # with their default values. The node may require a restart in order for some changes to take effect. # # Other opcodes may be added in the future (for example, an opcode for switching between multiple configurations). + +# note that implementors may choose to make parameter set operations +# be immediately persistent, or can choose to make them temporary, +# requiring a ExecuteOpcode with OPCODE_SAVE to put into persistent +# storage # uint8 OPCODE_SAVE = 0 # Save all parameters to non-volatile storage. uint8 OPCODE_ERASE = 1 # Clear the non-volatile storage; some changes may take effect only after reboot. diff --git a/uavcan/protocol/param/11.GetSet.uavcan b/uavcan/protocol/param/11.GetSet.uavcan index 5a9db6b..02f9ad6 100644 --- a/uavcan/protocol/param/11.GetSet.uavcan +++ b/uavcan/protocol/param/11.GetSet.uavcan @@ -4,6 +4,9 @@ # discouraged to use it for anything else, because persistent ordering is not guaranteed. # +# implementors may choose to make parameter set operations be immediately persistent, or can choose +# to make them temporary, requiring a ExecuteOpcode with OPCODE_SAVE to put into persistent storage + # # Index of the parameter starting from 0; ignored if name is nonempty. # Use index only to retrieve the list of parameters.