From f41fada571d913386d98fd3c21bb57dea748cc28 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 6 Aug 2022 17:27:01 +1000
Subject: [PATCH] AP_UAVCAN: support OpenDroneID

---
 libraries/AP_UAVCAN/AP_UAVCAN.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index 32334ad3ac..6dc4b51197 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -57,6 +57,7 @@
 #include <AP_ADSB/AP_ADSB.h>
 #include "AP_UAVCAN_DNA_Server.h"
 #include <AP_Logger/AP_Logger.h>
+#include <AP_OpenDroneID/AP_OpenDroneID.h>
 #include "AP_UAVCAN_pool.h"
 
 #define LED_DELAY_US 50000
@@ -456,7 +457,9 @@ void AP_UAVCAN::loop(void)
         notify_state_send();
         send_parameter_request();
         send_parameter_save_request();
-        AP::uavcan_dna_server().verify_nodes(this);
+#if AP_OPENDRONEID_ENABLED
+        AP::opendroneid().dronecan_send(this);
+#endif
     }
 }