Using UART GPS send UAVCAN Fix2 message

#1

Hello,

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?

Thanks

#2

According to this: https://github.com/PX4/Firmware/pull/6980

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?