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| author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-08-23 23:14:59 +0400 |
|---|---|---|
| committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-08-23 23:14:59 +0400 |
| commit | 4e0d7c6b0e52d3eecba65f4415d4c7372dfd8a49 (patch) | |
| tree | aaa6c0ead7eb140d0943e3a5737ec24ee939c9f9 /src/modules/uavcan/sensors/gnss.hpp | |
| parent | 6a8971e28f492073a951d96065df30034853bea7 (diff) | |
| download | px4-firmware-4e0d7c6b0e52d3eecba65f4415d4c7372dfd8a49.tar.gz px4-firmware-4e0d7c6b0e52d3eecba65f4415d4c7372dfd8a49.tar.bz2 px4-firmware-4e0d7c6b0e52d3eecba65f4415d4c7372dfd8a49.zip | |
UAVCAN: redundant sensors support
Diffstat (limited to 'src/modules/uavcan/sensors/gnss.hpp')
| -rw-r--r-- | src/modules/uavcan/sensors/gnss.hpp | 18 |
1 files changed, 7 insertions, 11 deletions
diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/modules/uavcan/sensors/gnss.hpp index db3a515fa..9488c5fe5 100644 --- a/src/modules/uavcan/sensors/gnss.hpp +++ b/src/modules/uavcan/sensors/gnss.hpp @@ -64,27 +64,23 @@ public: int init() override; + unsigned get_num_redundant_channels() const override; + private: /** * GNSS fix message will be reported via this callback. */ void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg); - typedef uavcan::MethodBinder<UavcanGnssBridge*, void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)> FixCbBinder; - /* - * libuavcan related things - */ - uavcan::INode &_node; - uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix; + uavcan::INode &_node; + uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix; + int _receiver_node_id = -1; - /* - * uORB - */ - struct vehicle_gps_position_s _report; ///< uORB topic for gnss position - orb_advert_t _report_pub; ///< uORB pub for gnss position + struct vehicle_gps_position_s _report; ///< uORB topic for gnss position + orb_advert_t _report_pub; ///< uORB pub for gnss position }; |