From a7d51898daa719e989d2d94c7b52647efe0a1028 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 25 Jun 2023 16:10:58 +1000
Subject: [PATCH] AP_Periph: raise CAN priorty of MovingBaseline data

and raise CAN buffer size for lots of movingbaseline data
---
 Tools/AP_Periph/can.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 2c7fb6e8d3..8209212d21 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -59,6 +59,8 @@ extern AP_Periph_FW periph;
 #ifndef HAL_CAN_POOL_SIZE
 #if HAL_CANFD_SUPPORTED
     #define HAL_CAN_POOL_SIZE 16000
+#elif GPS_MOVING_BASELINE
+    #define HAL_CAN_POOL_SIZE 8000
 #else
     #define HAL_CAN_POOL_SIZE 4000
 #endif
@@ -2151,9 +2153,11 @@ void AP_Periph_FW::send_moving_baseline_msg()
     } else 
 #endif
     {
+        // we use MEDIUM priority on this data as we need to get all
+        // the data through for RTK moving baseline yaw to work
         canard_broadcast(ARDUPILOT_GNSS_MOVINGBASELINEDATA_SIGNATURE,
                         ARDUPILOT_GNSS_MOVINGBASELINEDATA_ID,
-                        CANARD_TRANSFER_PRIORITY_LOW,
+                        CANARD_TRANSFER_PRIORITY_MEDIUM,
                         &buffer[0],
                         total_size);
     }