AP_UAVCAN: Add proximity support

ArduPilot · Nov 21, 2022 · cb68475 · cb68475
1 parent b01e892
commit cb68475
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -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);