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Added class to convert gnss message from uavcan to uorb

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This commit is contained in:
Andrew Chambers
2014-07-01 14:08:59 -07:00
parent c4d40b8d28
commit 8acbe6d5b6
4 changed files with 216 additions and 1 deletions
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7
src/modules/uavcan/uavcan_main.cpp
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@@ -63,7 +63,8 @@ UavcanNode *UavcanNode::_instance;
UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
CDev("uavcan", UAVCAN_DEVICE_PATH),
_node(can_driver, system_clock),
_esc_controller(_node)
_esc_controller(_node),
_gnss_receiver(_node)
{
_control_topics[0] = ORB_ID(actuator_controls_0);
_control_topics[1] = ORB_ID(actuator_controls_1);
@@ -186,6 +187,10 @@ int UavcanNode::init(uavcan::NodeID node_id)
if (ret < 0)
return ret;
ret = _gnss_receiver.init();
if (ret < 0)
return ret;
uavcan::protocol::SoftwareVersion swver;
swver.major = 12; // TODO fill version info
swver.minor = 34;