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AP_UAVCAN: Add proximity support

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rishabsingh3003 2022-12-14 13:36:07 +05:30 committed by Andrew Tridgell
parent d8cf7c8bb5
commit 650f0ff659
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_UAVCAN/AP_UAVCAN.cpp
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@ -61,6 +61,7 @@
#include <AP_Notify/AP_Notify.h>
#include <AP_OpenDroneID/AP_OpenDroneID.h>
#include "AP_UAVCAN_pool.h"
#include <AP_Proximity/AP_Proximity_DroneCAN.h>
#define LED_DELAY_US 50000
@ -356,6 +357,10 @@ void AP_UAVCAN::init(uint8_t driver_index, bool enable_filters)
AP_EFI_DroneCAN::subscribe_msgs(this);
#endif
#if AP_PROXIMITY_DRONECAN_ENABLED
AP_Proximity_DroneCAN::subscribe_msgs(this);
#endif
act_out_array[driver_index] = new uavcan::Publisher<uavcan::equipment::actuator::ArrayCommand>(*_node);
act_out_array[driver_index]->setTxTimeout(uavcan::MonotonicDuration::fromMSec(2));
act_out_array[driver_index]->setPriority(uavcan::TransferPriority::OneLowerThanHighest);