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uavcan: GNSS optionally publish RTCMStream or MovingBaselineData

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This commit is contained in:
Daniel Agar
2022-07-12 08:15:15 -04:00
parent a73efd9c4f
commit 19b9b052ab
3 changed files with 116 additions and 39 deletions
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src/drivers/uavcan/uavcan_params.c
+24
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@@ -194,6 +194,30 @@ PARAM_DEFINE_INT32(UAVCAN_LGT_NAV, 3);
*/
PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);
/**
* publish RTCM stream
*
* Enable UAVCAN RTCM stream publication
* uavcan::equipment::gnss::RTCMStream
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_PUB_RTCM, 0);
/**
* publish moving baseline data RTCM stream
*
* Enable UAVCAN RTCM stream publication
* ardupilot::gnss::MovingBaselineData
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_PUB_MBD, 0);
/**
* subscription airspeed
*