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| author | Andrew Chambers <achamber@gmail.com> | 2014-07-01 14:08:59 -0700 |
|---|---|---|
| committer | Andrew Chambers <achamber@gmail.com> | 2014-07-01 14:08:59 -0700 |
| commit | 8acbe6d5b6770e92fdcb86ba268492217d3e26bd (patch) | |
| tree | ef4be42db9a4c449e0441b58bc98f38513705c98 /src/modules/uavcan/uavcan_main.cpp | |
| parent | c4d40b8d284c20829ab84599be7790fdbeaa01fe (diff) | |
| download | px4-firmware-8acbe6d5b6770e92fdcb86ba268492217d3e26bd.tar.gz px4-firmware-8acbe6d5b6770e92fdcb86ba268492217d3e26bd.tar.bz2 px4-firmware-8acbe6d5b6770e92fdcb86ba268492217d3e26bd.zip | |
Added class to convert gnss message from uavcan to uorb
Diffstat (limited to 'src/modules/uavcan/uavcan_main.cpp')
| -rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index ab687a6b9..5bc437670 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -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; |