From 0dc07903dae330f19806b764c71495db4a60805a Mon Sep 17 00:00:00 2001 From: Claudio Chies Date: Wed, 18 Mar 2026 09:56:51 -0700 Subject: [PATCH] fix(rcS): disable local sensors when UAVCAN is enabled --- ROMFS/px4fmu_common/init.d/rcS | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 80749fbe8c..1b73a5de03 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -325,6 +325,20 @@ else then sensors start -h + # If UAVCAN is enabled, then disable the local sensors + if param greater UAVCAN_ENABLE 0 + then + param set UAVCAN_SUB_GPS 0 + param set UAVCAN_SUB_BARO 0 + param set UAVCAN_SUB_GPS_R 0 + param set UAVCAN_SUB_IMU 0 + param set UAVCAN_SUB_MAG 0 + param set UAVCAN_SUB_ASPD 0 + param set UAVCAN_SUB_DPRES 0 + param set UAVCAN_SUB_FLOW 0 + param set UAVCAN_SUB_MBD 0 + param set UAVCAN_SUB_RNG 0 + fi # disable GPS param set GPS_1_CONFIG 0