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UAVCAN: redundant sensors support

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This commit is contained in:
Pavel Kirienko
2014-08-23 23:14:59 +04:00
parent 6a8971e28f
commit 4e0d7c6b0e
9 changed files with 188 additions and 112 deletions
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src/modules/uavcan/sensors/gnss.cpp
+15
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@@ -73,8 +73,23 @@ int UavcanGnssBridge::init()
return res;
}
unsigned UavcanGnssBridge::get_num_redundant_channels() const
{
return (_receiver_node_id < 0) ? 0 : 1;
}
void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
{
// This bridge does not support redundant GNSS receivers yet.
if (_receiver_node_id < 0) {
_receiver_node_id = msg.getSrcNodeID().get();
warnx("GNSS receiver node ID: %d", _receiver_node_id);
} else {
if (_receiver_node_id != msg.getSrcNodeID().get()) {
return; // This GNSS receiver is the redundant one, ignore it.
}
}
_report.timestamp_position = hrt_absolute_time();
_report.lat = msg.lat_1e7;
_report.lon = msg.lon_1e7;