sl-perception created pull request seb/saltylab-firmware#728

sl-perception
Fri, 17 Apr 2026 21:49:44 -0400

728#feat: Here4 GPS DroneCAN on Orin via CANable2 (bd-p47c)#

Summary

saltybot_dronecan_gps: DroneCAN/UAVCAN v0 bridge for Here4 GPS via CANable2

CANable2 freed from ESP32 BALANCE comms (bd-wim1), now at 1 Mbps DroneCAN

Pure-Python DSDL parsers isolated from dronecan library; 39 unit tests passing

Publishes /gps/fix + /gps/velocity for navsat_transform EKF outdoor fusion

HDOP-based NavSatStatus upgrade (RTK/SBAS), RTCM injection via /rtcm

Resolves bd-p47c