Does PX4/UAVCAN support using 9-dof IMU over the can bus. And more specifically, a 9-dof IMU that publishes absolute position rather than accel, gyro, mag. I think I know what the answer is but I don’t fully understand the code yet so thought id double check.
If I haven’t made sense above I’ll explain the setup a bit more, I have a CANnode capable of running i2c devices. I am using a BNO055 IMU (9-dof) with a custom driver that publishes the exact position to a uORB topic called sensor_attitude. I want to have this data sent through the canbus to be logged on my pixhawk.
If its not supported but is possible, some guidance of how to go about and where to start would be greatly appreciated.
I have progressed this further and have my can node sending the data from the BNO, I am now having issues in receiving it on the pixhawk side. Does anyone have any guidance for writing the driver files for uavcan, eg - src/drivers/uavcan/sensors/accel.cpp and accel.hpp
the message can be seen publishing on the uavcan gui tool
edit: I can see it in uavcan gui but it thinks its empty and theres a constant spin error at the bottom thats constantly going. Perhaps not all is good on the node side? I have made my own dsdl file for this too
It would be nice to see your code, if you can share a GitHub link.
PX4 refers to an external device that publishes filtered position data (rather than raw sensor reading) as an INS.
So, if you’re sending position data, you’d want to write an INS driver.
