AP_Periph: fixed moving baseline yaw for single CAN port GPS peripherals #20249
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Awesome, thanks! I've put a post here so we can get the beta testers to test it. https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/15 |
bugobliterator
previously requested changes
Mar 8, 2022
60 tasks
the AP_GPS_UAVCAN driver requires this param for auto-config of MB yaw on DroneCAN GPS
this allows for F9P based dual-GPS yaw on DroneCAN peripherals with auto-config
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bugobliterator
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Mar 8, 2022
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The AP_GPS autoconfig code for moving baseline GPS assumes that the GPS_MB_CAN_PORT parameter is available on the node, and if not then it shows GPS status as 1 and never gets lock
This works around that. We could instead try to fix AP_GPS_UAVCAN.cpp to handle the error from a missing param