From b365a4ddf51b378accced3c828fd8be327be8565 Mon Sep 17 00:00:00 2001
From: Eugene Shamaev <Eugene.Shamaev@gmail.com>
Date: Sat, 6 May 2017 12:11:29 +0300
Subject: [PATCH] AntennaTracker: move of CAN parameters into separate group

---
 AntennaTracker/Parameters.cpp | 6 ++++++
 AntennaTracker/Parameters.h   | 1 +
 AntennaTracker/Tracker.h      | 6 ++++++
 AntennaTracker/system.cpp     | 3 +++
 4 files changed, 16 insertions(+)

diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index dff1cc2bd3..b03f33a455 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -293,6 +293,12 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
     GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),
 
+#if HAL_WITH_UAVCAN
+    // @Group: CAN_
+    // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
+    GOBJECT(BoardConfig_CAN,        "CAN_",       AP_BoardConfig_CAN),
+#endif
+
     // GPS driver
     // @Group: GPS_
     // @Path: ../libraries/AP_GPS/AP_GPS.cpp
diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h
index 5bc388ba67..d001cc3a66 100644
--- a/AntennaTracker/Parameters.h
+++ b/AntennaTracker/Parameters.h
@@ -92,6 +92,7 @@ public:
         k_param_gcs3,               // stream rates for fourth MAVLink port
         k_param_log_bitmask,        // 140
         k_param_notify,
+        k_param_BoardConfig_CAN,
 
         //
         // 150: Telemetry control
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 903a327be1..f6fcecc810 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -58,6 +58,7 @@
 #include <AP_Airspeed/AP_Airspeed.h>
 #include <RC_Channel/RC_Channel.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_Beacon/AP_Beacon.h>
@@ -142,6 +143,11 @@ private:
 
     AP_BoardConfig BoardConfig;
 
+#if HAL_WITH_UAVCAN
+    // board specific config for CAN bus
+    AP_BoardConfig_CAN BoardConfig_CAN;
+#endif
+
     struct Location current_loc;
 
     enum ControlMode control_mode  = INITIALISING;
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index fc74665bc2..93019020c2 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -41,6 +41,9 @@ void Tracker::init_tracker()
     hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
     
     BoardConfig.init();
+#if HAL_WITH_UAVCAN
+    BoardConfig_CAN.init();
+#endif
 
     // initialise notify
     notify.init(false);