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AP_UAVCAN: removed the old DroneCAN Fix message

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only send/process Fix2 message, saving bus bandwidth and flash space
This commit is contained in:
Andrew Tridgell 2022-09-27 14:53:55 +10:00
parent fde5c35d35
commit bf89a39621
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_UAVCAN/examples/UAVCAN_sniffer/UAVCAN_sniffer.cpp
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@ -14,7 +14,7 @@
#include <uavcan/helpers/heap_based_pool_allocator.hpp>
#include <uavcan/equipment/gnss/Fix.hpp>
#include <uavcan/equipment/gnss/Fix2.hpp>
#include <uavcan/equipment/gnss/Auxiliary.hpp>
#include <uavcan/equipment/ahrs/MagneticFieldStrength.hpp>
@ -111,7 +111,7 @@ static void count_msg(const char *name)
static void cb_ ## cbname(const uavcan::ReceivedDataStructure<mtype>& msg) { count_msg(msg.getDataTypeFullName()); }
MSG_CB(uavcan::protocol::NodeStatus, NodeStatus)
MSG_CB(uavcan::equipment::gnss::Fix, Fix)
MSG_CB(uavcan::equipment::gnss::Fix2, Fix2)
MSG_CB(uavcan::equipment::gnss::Auxiliary, Auxiliary)
MSG_CB(uavcan::equipment::ahrs::MagneticFieldStrength, MagneticFieldStrength)
MSG_CB(uavcan::equipment::ahrs::MagneticFieldStrength2, MagneticFieldStrength2);
@ -187,7 +187,7 @@ void UAVCAN_sniffer::init(void)
#define START_CB(mtype, cbname) (new uavcan::Subscriber<mtype>(*_node))->start(cb_ ## cbname)
START_CB(uavcan::protocol::NodeStatus, NodeStatus);
START_CB(uavcan::equipment::gnss::Fix, Fix);
START_CB(uavcan::equipment::gnss::Fix2, Fix2);
START_CB(uavcan::equipment::gnss::Auxiliary, Auxiliary);
START_CB(uavcan::equipment::ahrs::MagneticFieldStrength, MagneticFieldStrength);
START_CB(uavcan::equipment::ahrs::MagneticFieldStrength2, MagneticFieldStrength2);