From 9ce11159b026fba0787f64c625e638b0db240bf7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 6 Aug 2022 17:27:01 +1000
Subject: [PATCH] AP_UAVCAN: support OpenDroneID

---
 libraries/AP_UAVCAN/AP_UAVCAN.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index e162e56c9b..2dcffedd82 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -59,6 +59,7 @@
 #include "AP_UAVCAN_DNA_Server.h"
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Notify/AP_Notify.h>
+#include <AP_OpenDroneID/AP_OpenDroneID.h>
 #include "AP_UAVCAN_pool.h"
 
 #define LED_DELAY_US 50000
@@ -490,6 +491,9 @@ void AP_UAVCAN::loop(void)
         send_parameter_request();
         send_parameter_save_request();
         _dna_server->verify_nodes();
+#if AP_OPENDRONEID_ENABLED
+        AP::opendroneid().dronecan_send(this);
+#endif
     }
 }