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AP_UAVCAN: add configuration of hardware filters

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Francisco Ferreira 2018-07-22 06:07:51 +01:00
parent 3cb8421aa6
commit f69638f24f
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1 changed files with 8 additions and 0 deletions
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8
libraries/AP_UAVCAN/AP_UAVCAN.cpp
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@ -15,6 +15,10 @@
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#if !HAL_MINIMIZE_FEATURES
#include <uavcan/transport/can_acceptance_filter_configurator.hpp>
#endif
// Zubax GPS and other GPS, baro, magnetic sensors
#include <uavcan/equipment/gnss/Fix.hpp>
#include <uavcan/equipment/gnss/Auxiliary.hpp>
@ -571,6 +575,10 @@ void AP_UAVCAN::init(uint8_t driver_index)
_led_conf.devices_count = 0;
#if !HAL_MINIMIZE_FEATURES
configureCanAcceptanceFilters(*_node);
#endif
/*
* Informing other nodes that we're ready to work.
* Default mode is INITIALIZING.