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UAVCAN Moving Baseline Working

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Set uavcan publisher priorities

Switch to ardupilot rtcm message and add heading accuracy
This commit is contained in:
alexklimaj
2021-11-30 15:59:08 -05:00
committed by Daniel Agar
parent b59db7dac2
commit bfd5a90a5d
23 changed files with 328 additions and 66 deletions
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src/drivers/uavcannode/UavcanNode.cpp
+4 -2
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@@ -46,13 +46,14 @@
#include "Publishers/MagneticFieldStrength2.hpp"
#include "Publishers/RangeSensorMeasurement.hpp"
#include "Publishers/RawAirData.hpp"
#include "Publishers/MovingBaselineData.hpp"
#include "Publishers/SafetyButton.hpp"
#include "Publishers/StaticPressure.hpp"
#include "Publishers/StaticTemperature.hpp"
#include "Subscribers/BeepCommand.hpp"
#include "Subscribers/LightsCommand.hpp"
#include "Subscribers/RTCMStream.hpp"
#include "Subscribers/MovingBaselineData.hpp"
using namespace time_literals;
@@ -303,13 +304,14 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
_publisher_list.add(new MagneticFieldStrength2(this, _node));
_publisher_list.add(new RangeSensorMeasurement(this, _node));
_publisher_list.add(new RawAirData(this, _node));
_publisher_list.add(new MovingBaselineDataPub(this, _node));
_publisher_list.add(new SafetyButton(this, _node));
_publisher_list.add(new StaticPressure(this, _node));
_publisher_list.add(new StaticTemperature(this, _node));
_subscriber_list.add(new BeepCommand(_node));
_subscriber_list.add(new LightsCommand(_node));
_subscriber_list.add(new RTCMStream(_node));
_subscriber_list.add(new MovingBaselineData(_node));
for (auto &subscriber : _subscriber_list) {
subscriber->init();