Add UAS changes for CAN config

src/uas/UAS.cc

@@ -1515,6 +1515,9 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
         case StartCalibrationEsc:
             escCal = 1;
             break;
+        case StartCalibrationUavcanEsc:
+            escCal = 2;
+            break;
     }
     
     mavlink_message_t msg;
@@ -1555,6 +1558,54 @@ void UAS::stopCalibration(void)
     sendMessage(msg);
 }
 
+void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
+{
+    int actuatorCal = 0;
+
+    switch (calType) {
+        case StartBusConfigActuators:
+            actuatorCal = 1;
+            break;
+    }
+
+    mavlink_message_t msg;
+    mavlink_msg_command_long_pack(mavlink->getSystemId(),
+                                  mavlink->getComponentId(),
+                                  &msg,
+                                  uasId,
+                                  0,                                // target component
+                                  MAV_CMD_PREFLIGHT_UAVCAN,    // command id
+                                  0,                                // 0=first transmission of command
+                                  actuatorCal,                      // actuators
+                                  0,
+                                  0,
+                                  0,
+                                  0,
+                                  0,
+                                  0);
+    sendMessage(msg);
+}
+
+void UAS::stopBusConfig(void)
+{
+    mavlink_message_t msg;
+    mavlink_msg_command_long_pack(mavlink->getSystemId(),
+                                  mavlink->getComponentId(),
+                                  &msg,
+                                  uasId,
+                                  0,                                // target component
+                                  MAV_CMD_PREFLIGHT_UAVCAN,    // command id
+                                  0,                                // 0=first transmission of command
+                                  0,
+                                  0,
+                                  0,
+                                  0,
+                                  0,
+                                  0,
+                                  0);
+    sendMessage(msg);
+}
+
 void UAS::startDataRecording()
 {
     mavlink_message_t msg;

src/uas/UAS.h

@@ -916,6 +916,9 @@ public slots:
     void startCalibration(StartCalibrationType calType);
     void stopCalibration(void);
 
+    void startBusConfig(StartBusConfigType calType);
+    void stopBusConfig(void);
+
     void startDataRecording();
     void stopDataRecording();
     void deleteSettings();

src/uas/UASInterface.h

@@ -249,7 +249,12 @@ public:
         StartCalibrationAccel,
         StartCalibrationLevel,
         StartCalibrationEsc,
-        StartCalibrationCopyTrims
+        StartCalibrationCopyTrims,
+        StartCalibrationUavcanEsc
+    };
+
+    enum StartBusConfigType {
+        StartBusConfigActuators
     };
     
     /// Starts the specified calibration
@@ -258,6 +263,12 @@ public:
     /// Ends any current calibration
     virtual void stopCalibration(void) = 0;
 
+    /// Starts the specified bus configuration
+    virtual void startBusConfig(StartBusConfigType calType) = 0;
+
+    /// Ends any current bus configuration
+    virtual void stopBusConfig(void) = 0;
+
 public slots:
 
     /** @brief Set a new name for the system */