AP_DroneCAN: add activity LED for DroneCAN

bugobliterator · Jan 22, 2024 · eaebdf5 · eaebdf5
1 parent 8a4943f
commit eaebdf5
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/libraries/AP_DroneCAN/AP_Canard_iface.cpp b/libraries/AP_DroneCAN/AP_Canard_iface.cpp
@@ -202,6 +202,9 @@ bool CanardInterface::respond(uint8_t destination_node_id, const Canard::Transfe
 }
 
 void CanardInterface::onTransferReception(CanardInstance* ins, CanardRxTransfer* transfer) {
+#ifdef HAL_GPIO_PIN_LED_CAN1
+    palToggleLine(HAL_GPIO_PIN_LED_CAN1);
+#endif
     CanardInterface* iface = (CanardInterface*) ins->user_reference;
     iface->handle_message(*transfer);
 }