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uavcan: Remove single-GNSS limitation from UavcanGnssBridge

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This commit is contained in:
JacobCrabill
2021-01-12 22:04:52 -05:00
committed by Daniel Agar
parent a57b9f9381
commit 917fef546a
3 changed files with 4 additions and 16 deletions
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src/drivers/uavcan/sensors/gnss.cpp
-11
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@@ -282,17 +282,6 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
const float (&pos_cov)[9], const float (&vel_cov)[9],
const bool valid_pos_cov, const bool valid_vel_cov)
{
// This bridge does not support redundant GNSS receivers yet.
if (_receiver_node_id < 0) {
_receiver_node_id = msg.getSrcNodeID().get();
PX4_INFO("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.
}
}
sensor_gps_s report{};
/*