2 Commits

Author	SHA1	Message	Date
sl-jetson	a4a2953326	feat: Here4 DroneCAN GPS driver + NTRIP client (RTK ready) — Issue #725 ... New packages: - saltybot_dronecan_gps: DroneCAN driver for CubePilot Here4 RTK GPS - Subscribes uavcan.equipment.gnss.Fix2 (ID 1063) on can0 at 1Mbps - Publishes /gps/fix (NavSatFix), /gps/vel (TwistStamped), /gps/rtk_status - Maps DroneCAN fix_type 0-6 → sensor_msgs NavSatStatus + RTK label - Optional compass via uavcan.equipment.ahrs.MagneticFieldStrength - saltybot_ntrip_client: NTRIP RTCM3 → DroneCAN RTCMStream forwarding - Connects to rtk2go.com:2101 (configurable), auto-reconnects - Forwards corrections to Here4 via uavcan.equipment.gnss.RTCMStream - Publishes /ntrip/status (CONNECTED / DISCONNECTED / ERROR:<reason>) New launch file: - here4_gps.launch.py: launches both nodes with unified CAN + NTRIP params Updated: - can_setup.sh: adds 1Mbps DroneCAN mode (sudo ./can_setup.sh up dronecan) keeping 500kbps VESC default; CAN_BITRATE env var still overrides both - docker-compose.yml: adds here4-gps service with /dev/can0 device passthrough and NET_ADMIN cap; resolves leftover merge conflict markers - outdoor_nav_params.yaml: adds Here4 config section, updates RTK docs Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-04-10 20:42:36 -04:00
sl-jetson	a506989af6	feat: CANable 2.0 bringup with udev rule and systemd service (Issue #643) ... - udev: 70-canable.rules — gs_usb VID/PID 1d50:606f, names iface can0 and brings it up at 500 kbps on plug-in - systemd: can-bringup.service — oneshot service bound to sys-subsystem-net-devices-can0.device - scripts: can_setup.sh — manual up/down/verify helper; candump verify for VESC IDs 61 (0x3D) and 79 (0x4F) - install_systemd.sh updated to install can-bringup.service and all udev rules Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-17 09:49:21 -04:00