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uavcannode: GPS working on cuav_can-gps-v1

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- use sensor_gps directly from sensor rather than vehicle_gps_position (aggregated value)
This commit is contained in:
Daniel Agar
2021-01-13 22:06:46 -05:00
parent d8e8e23947
commit e96571b45d
4 changed files with 12 additions and 31 deletions
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src/drivers/uavcannode/UavcanNode.cpp
+7 -7
View File
@@ -306,10 +306,10 @@ void UavcanNode::Run()
dist.registerCallback();
}
_sensor_baro_sub.registerCallback();
_sensor_mag_sub.registerCallback();
_optical_flow_sub.registerCallback();
_vehicle_gps_position_sub.registerCallback();
_sensor_baro_sub.registerCallback();
_sensor_gps_sub.registerCallback();
_sensor_mag_sub.registerCallback();
_initialized = true;
}
@@ -462,11 +462,11 @@ void UavcanNode::Run()
}
}
// vehicle_gps_position -> uavcan::equipment::gnss::Fix2
if (_vehicle_gps_position_sub.updated()) {
vehicle_gps_position_s gps;
// sensor_gps -> uavcan::equipment::gnss::Fix2
if (_sensor_gps_sub.updated()) {
sensor_gps_s gps;
if (_vehicle_gps_position_sub.copy(&gps)) {
if (_sensor_gps_sub.copy(&gps)) {
uavcan::equipment::gnss::Fix2 fix2{};
fix2.gnss_time_standard = fix2.GNSS_TIME_STANDARD_UTC;
src/drivers/uavcannode/UavcanNode.hpp
+2 -2
View File
@@ -79,7 +79,7 @@
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/sensor_gps.h>
using namespace time_literals;
@@ -198,7 +198,7 @@ private:
uORB::SubscriptionCallbackWorkItem _optical_flow_sub{this, ORB_ID(optical_flow)};
uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
uORB::SubscriptionCallbackWorkItem _sensor_mag_sub{this, ORB_ID(sensor_mag)};
uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)};
uORB::SubscriptionCallbackWorkItem _sensor_gps_sub{this, ORB_ID(sensor_gps)};
perf_counter_t _cycle_perf;
perf_counter_t _interval_perf;