Using UART GPS send UAVCAN Fix2 message


I need to modify PX4 to take our standard GPS inputs (via TELEM ports) and package them into a UAVCAN output (I have a device that requires GPS inputs via CAN). Are there any examples of something similar?


According to this:

uavcan should publish fix2 from the regular gps if it doesn’t find a CAN GNSS device - is this correct? How do I confirm the CAN messages being published - is this possible with UAVCAN in the shell?