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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
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@@ -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;