7 files changed, 49 insertions, 21 deletions
diff --git a/src/modules/uavcan/sensors/baro.cpp b/src/modules/uavcan/sensors/baro.cpp
index 80c5e3828..8741ae20d 100644
--- a/src/modules/uavcan/sensors/baro.cpp
+++ b/src/modules/uavcan/sensors/baro.cpp
@@ -91,11 +91,7 @@ void UavcanBarometerBridge::air_data_sub_cb(const uavcan::ReceivedDataStructure<
 {
 	auto report = ::baro_report();
 
-	report.timestamp = msg.getUtcTimestamp().toUSec();
-	if (report.timestamp == 0) {
-		report.timestamp = msg.getMonotonicTimestamp().toUSec();
-	}
-
+	report.timestamp   = msg.getMonotonicTimestamp().toUSec();
 	report.temperature = msg.static_temperature;
 	report.pressure    = msg.static_pressure / 100.0F;  // Convert to millibar
 
diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp
index 24afe6aaf..a375db37f 100644
--- a/src/modules/uavcan/sensors/gnss.cpp
+++ b/src/modules/uavcan/sensors/gnss.cpp
@@ -92,7 +92,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
 
 	auto report = ::vehicle_gps_position_s();
 
-	report.timestamp_position = hrt_absolute_time();
+	report.timestamp_position = msg.getMonotonicTimestamp().toUSec();
 	report.lat = msg.latitude_deg_1e8 / 10;
 	report.lon = msg.longitude_deg_1e8 / 10;
 	report.alt = msg.height_msl_mm;
diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/modules/uavcan/sensors/gnss.hpp
index e8466b401..2111ff80b 100644
--- a/src/modules/uavcan/sensors/gnss.hpp
+++ b/src/modules/uavcan/sensors/gnss.hpp
@@ -43,8 +43,6 @@
 
 #pragma once
 
-#include <drivers/drv_hrt.h>
-
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_gps_position.h>
 
diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp
index 8e6a9a22f..35ebee542 100644
--- a/src/modules/uavcan/sensors/mag.cpp
+++ b/src/modules/uavcan/sensors/mag.cpp
@@ -37,6 +37,8 @@
 
 #include "mag.hpp"
 
+#include <systemlib/err.h>
+
 static const orb_id_t MAG_TOPICS[3] = {
 	ORB_ID(sensor_mag0),
 	ORB_ID(sensor_mag1),
@@ -49,6 +51,8 @@ UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode& node) :
 UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_DEVICE_PATH, MAG_TOPICS),
 _sub_mag(node)
 {
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;
+
 	_scale.x_scale = 1.0F;
 	_scale.y_scale = 1.0F;
 	_scale.z_scale = 1.0F;
@@ -69,9 +73,36 @@ int UavcanMagnetometerBridge::init()
 	return 0;
 }
 
+ssize_t UavcanMagnetometerBridge::read(struct file *filp, char *buffer, size_t buflen)
+{
+	static uint64_t last_read = 0;
+	struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer);
+
+	/* buffer must be large enough */
+	unsigned count = buflen / sizeof(struct mag_report);
+	if (count < 1) {
+		return -ENOSPC;
+	}
+
+	if (last_read < _report.timestamp) {
+		/* copy report */
+		lock();
+		*mag_buf = _report;
+		last_read = _report.timestamp;
+		unlock();
+		return sizeof(struct mag_report);
+	} else {
+		/* no new data available, warn caller */
+		return -EAGAIN;
+	}
+}
+
 int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
+	case SENSORIOCSQUEUEDEPTH: {
+		return OK;			// Pretend that this stuff is supported to keep APM happy
+	}
 	case MAGIOCSSCALE: {
 		std::memcpy(&_scale, reinterpret_cast<const void*>(arg), sizeof(_scale));
 		return 0;
@@ -84,7 +115,7 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar
 		return 0;           // Nothing to do
 	}
 	case MAGIOCGEXTERNAL: {
-		return 0;           // We don't want anyone to transform the coordinate frame, so we declare it onboard
+		return 1;           // declare it external rise it's priority and to allow for correct orientation compensation
 	}
 	case MAGIOCSSAMPLERATE: {
 		return 0;           // Pretend that this stuff is supported to keep the sensor app happy
@@ -106,18 +137,14 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar
 
 void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg)
 {
-	auto report = ::mag_report();
-
-	report.range_ga = 1.3F;   // Arbitrary number, doesn't really mean anything
-
-	report.timestamp = msg.getUtcTimestamp().toUSec();
-	if (report.timestamp == 0) {
-		report.timestamp = msg.getMonotonicTimestamp().toUSec();
-	}
+	lock();
+	_report.range_ga = 1.3F;   // Arbitrary number, doesn't really mean anything
+	_report.timestamp = msg.getMonotonicTimestamp().toUSec();
 
-	report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale;
-	report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale;
-	report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale;
+	_report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale;
+	_report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale;
+	_report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale;
+	unlock();
 
-	publish(msg.getSrcNodeID().get(), &report);
+	publish(msg.getSrcNodeID().get(), &_report);
 }
diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp
index 6d413a8f7..74077d883 100644
--- a/src/modules/uavcan/sensors/mag.hpp
+++ b/src/modules/uavcan/sensors/mag.hpp
@@ -54,6 +54,7 @@ public:
 	int init() override;
 
 private:
+	ssize_t	read(struct file *filp, char *buffer, size_t buflen);
 	int ioctl(struct file *filp, int cmd, unsigned long arg) override;
 
 	void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg);
@@ -65,4 +66,5 @@ private:
 
 	uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag;
 	mag_scale _scale = {};
+	mag_report _report =  {};
 };
diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp
index 9608ce680..0999938fc 100644
--- a/src/modules/uavcan/sensors/sensor_bridge.cpp
+++ b/src/modules/uavcan/sensors/sensor_bridge.cpp
@@ -103,6 +103,9 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
 			return;
 		}
 
+		// update device id as we now know our device node_id
+		_device_id.devid_s.address = static_cast<uint8_t>(node_id);
+
 		// Ask the CDev helper which class instance we can take
 		const int class_instance = register_class_devname(_class_devname);
 		if (class_instance < 0 || class_instance >= int(_max_channels)) {
diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp
index 1316f7ecc..e31960537 100644
--- a/src/modules/uavcan/sensors/sensor_bridge.hpp
+++ b/src/modules/uavcan/sensors/sensor_bridge.hpp
@@ -112,6 +112,8 @@ protected:
 	_channels(new Channel[MaxChannels])
 	{
 		memcpy(_orb_topics, orb_topics, sizeof(orb_id_t) * MaxChannels);
+		_device_id.devid_s.bus_type = DeviceBusType_UAVCAN;
+		_device_id.devid_s.bus = 0;
 	}
 
 	/**