[uavcan] Param for interface mask of ESC actuators

[niklaut]

Solved Problem

When using UAVCAN ESCs on a hexacopter we were having issues with getting other nodes to talk back to the Skynode.
The ESCs were already on their own separate CAN bus, however, by default UAVCAN broadcast the ESC messages on all interfaces, starving the other nodes by message priority of bus bandwidth.

Solution

This adds a parameter that allows to configure the interface mask for the ESC actuators, which completely fixes the problem.
The default mask (0xff) is backward compatible with the default UAVCAN behavior.

Changelog Entry

For release notes:

New parameter: UAVCAN_ESC_IFACE configures which busses the ESC message is broadcast on.

Alternatives

No.

Test coverage

Tested in hardware on a hexacopter with 6 ESCs and a smart UAVCAN battery.

cc @cmic0

[github-actions]

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Updated: 2025-05-28T11:56:35

[MaEtUgR]

🙏

[MaEtUgR]

Works as expected, thank you! I can select the buses to publish on, it shows me I have to reboot and after that it publishes only on the corresponding bus without spamming the others 👍

[dakejahl]

Maybe 1 or 2 is a better default? Otherwise someone might set this up, see that it's working, and move on without realizing they've just degraded their other CAN bus.