From b6c397c85a6074f04a87b923a81cb77bdf1296c7 Mon Sep 17 00:00:00 2001
From: Eugene Shamaev <Eugene.Shamaev@gmail.com>
Date: Sat, 6 May 2017 12:11:40 +0300
Subject: [PATCH] APMrover2: move of CAN parameters into separate group

---
 APMrover2/Parameters.cpp | 6 ++++++
 APMrover2/Parameters.h   | 1 +
 APMrover2/Rover.h        | 6 ++++++
 APMrover2/system.cpp     | 3 +++
 4 files changed, 16 insertions(+)

diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 3458f06f76..69ce0ae7e1 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -470,6 +470,12 @@ const AP_Param::Info Rover::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/APMrover2/Parameters.h b/APMrover2/Parameters.h
index ccd7d6daaa..bcfe0b5ed3 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -22,6 +22,7 @@ public:
         //
         k_param_format_version = 0,
         k_param_software_type,
+        k_param_BoardConfig_CAN,
 
         // Misc
         //
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 404a5cd430..a43e686aa2 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -61,6 +61,7 @@
 #include <APM_Control/APM_Control.h>
 #include <AP_L1_Control/AP_L1_Control.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 #include <AP_Frsky_Telem/AP_Frsky_Telem.h>
 
 #include "AP_Arming.h"
@@ -129,6 +130,11 @@ private:
     // board specific config
     AP_BoardConfig BoardConfig;
 
+#if HAL_WITH_UAVCAN
+    // board specific config for CAN bus
+    AP_BoardConfig_CAN BoardConfig_CAN;
+#endif
+
     // primary control channels
     RC_Channel *channel_steer;
     RC_Channel *channel_throttle;
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index 631301f2b2..9539e80149 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -107,6 +107,9 @@ void Rover::init_ardupilot()
     hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
 
     BoardConfig.init();
+#if HAL_WITH_UAVCAN
+    BoardConfig_CAN.init();
+#endif
 
     // initialise notify system
     notify.init(false);