uavcan: kconfig options for gnss handlers

src/drivers/uavcan/Kconfig

@@ -62,8 +62,20 @@ if DRIVERS_UAVCAN
         bool "Subscribe to Fuel Tank Status:            uavcan::equipment::ice::FuelTankStatus"
         default y
 
-    config UAVCAN_SENSOR_GNSS
-        bool "Subscribe to GPS:                         uavcan::equipment::gnss::Auxiliary | uavcan::equipment::gnss::Fix | uavcan::equipment::gnss::Fix2"
+    config UAVCAN_SENSOR_GNSS_AUXILIARY
+        bool "Subscribe to GPS Auxiliary:               uavcan::equipment::gnss::Auxiliary"
+        default y
+
+    config UAVCAN_SENSOR_GNSS_FIX
+        bool "Subscribe to GPS Fix (deprecated):        uavcan::equipment::gnss::Fix"
+        default n
+
+    config UAVCAN_SENSOR_GNSS_FIX2
+        bool "Subscribe to GPS Fix2:                    uavcan::equipment::gnss::Fix2"
+        default n
+
+    config UAVCAN_SENSOR_GNSS_FIX3
+        bool "Subscribe to GPS Fix3 (preferred):        uavcan::equipment::gnss::Fix3"
         default y
 
     config UAVCAN_SENSOR_GNSS_RELATIVE

src/drivers/uavcan/sensors/gnss.cpp

@@ -56,29 +56,51 @@ const char *const UavcanGnssBridge::NAME = "gnss";
 UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node, NodeInfoPublisher *node_info_publisher) :
 	UavcanSensorBridgeBase("uavcan_gnss", ORB_ID(sensor_gps), node_info_publisher),
 	_node(node),
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_AUXILIARY)
 	_sub_auxiliary(node),
+#endif
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX)
 	_sub_fix(node),
+#endif
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)
 	_sub_fix2(node),
+#endif
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
 	_sub_fix3(node),
+#endif
 	_sub_gnss_heading(node),
 	_sub_moving_baseline_data(node),
 	_pub_moving_baseline_data(node),
-	_pub_rtcm_stream(node),
-	_channel_using_fix2(new bool[_max_channels]),
-	_channel_using_fix3(new bool[_max_channels])
+	_pub_rtcm_stream(node)
 {
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX) && (defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3))
+	_channel_using_fix2 = new bool[_max_channels];
+
 	for (uint8_t i = 0; i < _max_channels; i++) {
 		_channel_using_fix2[i] = false;
+	}
+
+#endif
+#if (defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)) && defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
+	_channel_using_fix3 = new bool[_max_channels];
+
+	for (uint8_t i = 0; i < _max_channels; i++) {
 		_channel_using_fix3[i] = false;
 	}
 
+#endif
+
 	set_device_type(DRV_GPS_DEVTYPE_UAVCAN);
 }
 
 UavcanGnssBridge::~UavcanGnssBridge()
 {
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX) && (defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3))
 	delete [] _channel_using_fix2;
+#endif
+#if (defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)) && defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
 	delete [] _channel_using_fix3;
+#endif
 	perf_free(_rtcm_stream_pub_perf);
 	perf_free(_moving_baseline_data_pub_perf);
 	perf_free(_moving_baseline_data_sub_perf);
@@ -87,13 +109,19 @@ UavcanGnssBridge::~UavcanGnssBridge()
 int
 UavcanGnssBridge::init()
 {
-	int res = _sub_auxiliary.start(AuxiliaryCbBinder(this, &UavcanGnssBridge::gnss_auxiliary_sub_cb));
+	int res = 0;
+
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_AUXILIARY)
+	res = _sub_auxiliary.start(AuxiliaryCbBinder(this, &UavcanGnssBridge::gnss_auxiliary_sub_cb));
 
 	if (res < 0) {
 		PX4_WARN("GNSS auxiliary sub failed %i", res);
 		return res;
 	}
 
+#endif
+
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX)
 	res = _sub_fix.start(FixCbBinder(this, &UavcanGnssBridge::gnss_fix_sub_cb));
 
 	if (res < 0) {
@@ -101,6 +129,9 @@ UavcanGnssBridge::init()
 		return res;
 	}
 
+#endif
+
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)
 	res = _sub_fix2.start(Fix2CbBinder(this, &UavcanGnssBridge::gnss_fix2_sub_cb));
 
 	if (res < 0) {
@@ -108,6 +139,9 @@ UavcanGnssBridge::init()
 		return res;
 	}
 
+#endif
+
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
 	res = _sub_fix3.start(Fix3CbBinder(this, &UavcanGnssBridge::gnss_fix3_sub_cb));
 
 	if (res < 0) {
@@ -115,6 +149,8 @@ UavcanGnssBridge::init()
 		return res;
 	}
 
+#endif
+
 	res = _sub_gnss_heading.start(RelPosHeadingCbBinder(this, &UavcanGnssBridge::gnss_relative_sub_cb));
 
 	if (res < 0) {
@@ -154,6 +190,7 @@ UavcanGnssBridge::init()
 	return res;
 }
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_AUXILIARY)
 void
 UavcanGnssBridge::gnss_auxiliary_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &msg)
 {
@@ -162,7 +199,9 @@ UavcanGnssBridge::gnss_auxiliary_sub_cb(const uavcan::ReceivedDataStructure<uavc
 	_last_gnss_auxiliary_hdop = msg.hdop;
 	_last_gnss_auxiliary_vdop = msg.vdop;
 }
+#endif
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX)
 void
 UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
 {
@@ -170,10 +209,20 @@ UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::eq
 	// If so, ignore the old "Fix" message for this node.
 	const int8_t ch = get_channel_index_for_node(msg.getSrcNodeID().get());
 
-	if (ch > -1 && (_channel_using_fix2[ch] || _channel_using_fix3[ch])) {
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
+
+	if (ch > -1 && (_channel_using_fix2[ch]
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
+			|| _channel_using_fix3[ch]
+#endif
+		       )) {
 		return;
 	}
 
+#else
+	(void)ch;
+#endif
+
 	uint8_t fix_type = msg.status;
 
 	const bool valid_pos_cov = !msg.position_covariance.empty();
@@ -187,7 +236,9 @@ UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::eq
 
 	process_fixx(msg, fix_type, pos_cov, vel_cov, valid_pos_cov, valid_vel_cov, NAN, NAN, NAN, -1, -1, 0, 0);
 }
+#endif
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)
 void
 UavcanGnssBridge::gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &msg)
 {
@@ -195,16 +246,26 @@ UavcanGnssBridge::gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::e
 
 	const int8_t ch = get_channel_index_for_node(msg.getSrcNodeID().get());
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
+
 	// If this node is using Fix3, ignore Fix2 messages
 	if (ch > -1 && _channel_using_fix3[ch]) {
 		return;
 	}
 
+#endif
+
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX)
+
 	if (ch > -1 && !_channel_using_fix2[ch]) {
 		PX4_WARN("GNSS Fix2 msg detected for ch %d; disabling Fix msg for this node", ch);
 		_channel_using_fix2[ch] = true;
 	}
 
+#else
+	(void)ch;
+#endif
+
 	uint8_t fix_type = msg.status;
 
 	switch (msg.mode) {
@@ -365,12 +426,15 @@ UavcanGnssBridge::gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::e
 	process_fixx(msg, fix_type, pos_cov, vel_cov, valid_covariances, valid_covariances, heading, heading_offset,
 		     heading_accuracy, noise_per_ms, jamming_indicator, jamming_state, spoofing_state);
 }
+#endif
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
 void
 UavcanGnssBridge::gnss_fix3_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix3> &msg)
 {
 	using uavcan::equipment::gnss::Fix3;
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)
 	const int8_t ch = get_channel_index_for_node(msg.getSrcNodeID().get());
 
 	if (ch > -1 && !_channel_using_fix3[ch]) {
@@ -378,6 +442,8 @@ UavcanGnssBridge::gnss_fix3_sub_cb(const uavcan::ReceivedDataStructure<uavcan::e
 		_channel_using_fix3[ch] = true;
 	}
 
+#endif
+
 	sensor_gps_s sensor_gps{};
 
 	sensor_gps.device_id = make_uavcan_device_id(msg);
@@ -526,6 +592,7 @@ UavcanGnssBridge::gnss_fix3_sub_cb(const uavcan::ReceivedDataStructure<uavcan::e
 
 	publish(msg.getSrcNodeID().get(), &sensor_gps);
 }
+#endif
 
 void UavcanGnssBridge::gnss_relative_sub_cb(const
 		uavcan::ReceivedDataStructure<ardupilot::gnss::RelPosHeading> &msg)
@@ -570,6 +637,7 @@ void UavcanGnssBridge::moving_baseline_data_sub_cb(const
 	}
 }
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)
 template <typename FixType>
 void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType> &msg,
 				    uint8_t fix_type,
@@ -699,11 +767,15 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
 
 	sensor_gps.satellites_used = msg.sats_used;
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_AUXILIARY)
+
 	if (hrt_elapsed_time(&_last_gnss_auxiliary_timestamp) < 2_s) {
 		sensor_gps.hdop = _last_gnss_auxiliary_hdop;
 		sensor_gps.vdop = _last_gnss_auxiliary_vdop;
 
-	} else {
+	} else
+#endif
+	{
 		// Using PDOP for HDOP and VDOP
 		// Relevant discussion: https://github.com/PX4/Firmware/issues/5153
 		sensor_gps.hdop = msg.pdop;
@@ -736,6 +808,7 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
 
 	publish(msg.getSrcNodeID().get(), &sensor_gps);
 }
+#endif
 
 void UavcanGnssBridge::update()
 {

src/drivers/uavcan/sensors/gnss.hpp

@@ -35,9 +35,9 @@
  * @file gnss.hpp
  *
  * UAVCAN <--> ORB bridge for GNSS messages:
- *     uavcan.equipment.gnss.Fix (deprecated, but still supported for backward compatibility)
- *     uavcan.equipment.gnss.Fix2
- *     uavcan.equipment.gnss.Fix3 (preferred, uses direct EPH/EPV fields)
+ *     uavcan.equipment.gnss.Fix (deprecated, disabled by default via CONFIG_UAVCAN_SENSOR_GNSS_FIX)
+ *     uavcan.equipment.gnss.Fix2 (enabled by default via CONFIG_UAVCAN_SENSOR_GNSS_FIX2)
+ *     uavcan.equipment.gnss.Fix3 (preferred, enabled by default via CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
  *
  * @author Pavel Kirienko <pavel.kirienko@gmail.com>
  * @author Andrew Chambers <achamber@gmail.com>
@@ -53,10 +53,18 @@
 #include <uORB/topics/gps_dump.h>
 
 #include <uavcan/uavcan.hpp>
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_AUXILIARY)
 #include <uavcan/equipment/gnss/Auxiliary.hpp>
+#endif
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX)
 #include <uavcan/equipment/gnss/Fix.hpp>
+#endif
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)
 #include <uavcan/equipment/gnss/Fix2.hpp>
+#endif
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
 #include <uavcan/equipment/gnss/Fix3.hpp>
+#endif
 #include <ardupilot/gnss/MovingBaselineData.hpp>
 #include <ardupilot/gnss/RelPosHeading.hpp>
 #include <uavcan/equipment/gnss/RTCMStream.hpp>
@@ -83,14 +91,23 @@ private:
 	/**
 	 * GNSS fix message will be reported via this callback.
 	 */
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_AUXILIARY)
 	void gnss_auxiliary_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &msg);
+#endif
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX)
 	void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
+#endif
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)
 	void gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &msg);
+#endif
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
 	void gnss_fix3_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix3> &msg);
+#endif
 	void gnss_relative_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::gnss::RelPosHeading> &msg);
 	void moving_baseline_data_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::gnss::MovingBaselineData> &msg);
 
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)
 	template <typename FixType>
 	void process_fixx(const uavcan::ReceivedDataStructure<FixType> &msg,
 			  uint8_t fix_type,
@@ -100,26 +117,35 @@ private:
 			  const float heading_accuracy, const int32_t noise_per_ms,
 			  const int32_t jamming_indicator, const uint8_t jamming_state,
 			  const uint8_t spoofing_state);
+#endif
 
 	void handleInjectDataTopic();
 	bool PublishRTCMStream(const uint8_t *data, size_t data_len);
 	bool PublishMovingBaselineData(const uint8_t *data, size_t data_len);
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_AUXILIARY)
 	typedef uavcan::MethodBinder < UavcanGnssBridge *,
 		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &) >
 		AuxiliaryCbBinder;
+#endif
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX)
 	typedef uavcan::MethodBinder < UavcanGnssBridge *,
 		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &) >
 		FixCbBinder;
+#endif
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)
 	typedef uavcan::MethodBinder < UavcanGnssBridge *,
 		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &) >
 		Fix2CbBinder;
+#endif
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
 	typedef uavcan::MethodBinder < UavcanGnssBridge *,
 		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix3> &) >
 		Fix3CbBinder;
+#endif
 
 	typedef uavcan::MethodBinder<UavcanGnssBridge *,
 		void (UavcanGnssBridge::*)(const uavcan::TimerEvent &)>
@@ -135,10 +161,18 @@ private:
 
 	uavcan::INode &_node;
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_AUXILIARY)
 	uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary, AuxiliaryCbBinder> _sub_auxiliary;
+#endif
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX)
 	uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix;
+#endif
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)
 	uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2CbBinder> _sub_fix2;
+#endif
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
 	uavcan::Subscriber<uavcan::equipment::gnss::Fix3, Fix3CbBinder> _sub_fix3;
+#endif
 	uavcan::Subscriber<ardupilot::gnss::RelPosHeading, RelPosHeadingCbBinder> _sub_gnss_heading;
 
 	// Used for MSM7 logging for PPK workflows
@@ -147,9 +181,11 @@ private:
 	uavcan::Publisher<ardupilot::gnss::MovingBaselineData> _pub_moving_baseline_data;
 	uavcan::Publisher<uavcan::equipment::gnss::RTCMStream> _pub_rtcm_stream;
 
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_AUXILIARY)
 	uint64_t	_last_gnss_auxiliary_timestamp{0};
 	float		_last_gnss_auxiliary_hdop{0.0f};
 	float		_last_gnss_auxiliary_vdop{0.0f};
+#endif
 
 	uORB::SubscriptionMultiArray<gps_inject_data_s, gps_inject_data_s::MAX_INSTANCES> _orb_inject_data_sub{ORB_ID::gps_inject_data};
 	hrt_abstime		_last_rtcm_injection_time{0};	///< time of last rtcm injection
@@ -159,8 +195,12 @@ private:
 
 	bool _system_clock_set{false};  ///< Have we set the system clock at least once from GNSS data?
 
-	bool *_channel_using_fix2; ///< Flag for whether each channel is using Fix2 or Fix msg
-	bool *_channel_using_fix3; ///< Flag for whether each channel is using Fix3 (takes priority over Fix2 and Fix)
+#if defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX) && (defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3))
+	bool *_channel_using_fix2{nullptr}; ///< Flag for whether each channel is using Fix2 or Fix msg
+#endif
+#if (defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX) || defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX2)) && defined(CONFIG_UAVCAN_SENSOR_GNSS_FIX3)
+	bool *_channel_using_fix3{nullptr}; ///< Flag for whether each channel is using Fix3 (takes priority over Fix2 and Fix)
+#endif
 
 	bool _publish_rtcm_stream{false};
 	bool _publish_moving_baseline_data{false};

src/drivers/uavcannode/Kconfig

@@ -30,10 +30,18 @@ if DRIVERS_UAVCANNODE
         bool "Include flow measurement"
         default n
 
-    config UAVCANNODE_GNSS_FIX
-        bool "Include GNSS fix"
+    config UAVCANNODE_GNSS_AUXILIARY
+        bool "Include GNSS Auxiliary publisher"
         default n
 
+    config UAVCANNODE_GNSS_FIX2
+        bool "Include GNSS Fix2 publisher"
+        default n
+
+    config UAVCANNODE_GNSS_FIX3
+        bool "Include GNSS Fix3 publisher (preferred)"
+        default y
+
     config UAVCANNODE_HYGROMETER_MEASUREMENT
         bool "Include hygrometer measurement"
         default n

src/drivers/uavcannode/UavcanNode.cpp

@@ -56,11 +56,17 @@
 #include "Publishers/HygrometerMeasurement.hpp"
 #endif // UAVCANNODE_HYGROMETER_MEASUREMENT
 
-#if defined(CONFIG_UAVCANNODE_GNSS_FIX)
-#include "Publishers/GnssFix2.hpp"
-#include "Publishers/GnssFix3.hpp"
+#if defined(CONFIG_UAVCANNODE_GNSS_AUXILIARY)
 #include "Publishers/GnssAuxiliary.hpp"
-#endif // CONFIG_UAVCANNODE_GNSS_FIX
+#endif // CONFIG_UAVCANNODE_GNSS_AUXILIARY
+
+#if defined(CONFIG_UAVCANNODE_GNSS_FIX2)
+#include "Publishers/GnssFix2.hpp"
+#endif // CONFIG_UAVCANNODE_GNSS_FIX2
+
+#if defined(CONFIG_UAVCANNODE_GNSS_FIX3)
+#include "Publishers/GnssFix3.hpp"
+#endif // CONFIG_UAVCANNODE_GNSS_FIX3
 
 #if defined(CONFIG_UAVCANNODE_INDICATED_AIR_SPEED)
 #include "Publishers/IndicatedAirspeed.hpp"
@@ -379,11 +385,17 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
 	_publisher_list.add(new HygrometerMeasurement(this, _node));
 #endif // UAVCANNODE_HYGROMETER_MEASUREMENT
 
-#if defined(CONFIG_UAVCANNODE_GNSS_FIX)
+#if defined(CONFIG_UAVCANNODE_GNSS_FIX3)
 	_publisher_list.add(new GnssFix3(this, _node));
+#endif // CONFIG_UAVCANNODE_GNSS_FIX3
+
+#if defined(CONFIG_UAVCANNODE_GNSS_FIX2)
 	_publisher_list.add(new GnssFix2(this, _node)); // Keep Fix2 for backwards compatibility
+#endif // CONFIG_UAVCANNODE_GNSS_FIX2
+
+#if defined(CONFIG_UAVCANNODE_GNSS_AUXILIARY)
 	_publisher_list.add(new GnssAuxiliary(this, _node));
-#endif // CONFIG_UAVCANNODE_GNSS_FIX
+#endif // CONFIG_UAVCANNODE_GNSS_AUXILIARY
 
 #if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH)
 	int32_t cannode_pub_mag = 1;