From b8730f9fde25d19ce13e6b8ee7bc51a6f26540cb Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Thu, 29 Jan 2026 23:56:53 -0900
Subject: [PATCH] fix compile time

---
 src/drivers/uavcan/Kconfig                   | 2 +-
 src/drivers/uavcan/sensors/sensor_bridge.cpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/drivers/uavcan/Kconfig b/src/drivers/uavcan/Kconfig
index 8672ec1f4b..31e5d75795 100644
--- a/src/drivers/uavcan/Kconfig
+++ b/src/drivers/uavcan/Kconfig
@@ -72,7 +72,7 @@ if DRIVERS_UAVCAN
 
     config UAVCAN_SENSOR_GNSS_FIX2
         bool "Subscribe to GPS Fix2:                    uavcan::equipment::gnss::Fix2"
-        default n
+        default y
 
     config UAVCAN_SENSOR_GNSS_FIX3
         bool "Subscribe to GPS Fix3 (preferred):        uavcan::equipment::gnss::Fix3"
diff --git a/src/drivers/uavcan/sensors/sensor_bridge.cpp b/src/drivers/uavcan/sensors/sensor_bridge.cpp
index 350dd9a625..ec4b1f4725 100644
--- a/src/drivers/uavcan/sensors/sensor_bridge.cpp
+++ b/src/drivers/uavcan/sensors/sensor_bridge.cpp
@@ -60,7 +60,7 @@
 #if defined(CONFIG_UAVCAN_SENSOR_FUEL_TANK_STATUS)
 #include "fuel_tank_status.hpp"
 #endif
-#if defined(CONFIG_UAVCAN_SENSOR_GNSS)
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_AUXILIARY) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
 #include "gnss.hpp"
 #endif
 #if defined(CONFIG_UAVCAN_SENSOR_GNSS_RELATIVE)
@@ -155,7 +155,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 #endif
 
 	// GPS
-#if defined(CONFIG_UAVCAN_SENSOR_GNSS)
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_AUXILIARY) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
 	int32_t uavcan_sub_gps = 1;
 	param_get(param_find("UAVCAN_SUB_GPS"), &uavcan_sub_gps);