uavcan: Remove single-GNSS limitation from UavcanGnssBridge

src/drivers/uavcan/sensors/gnss.cpp

@@ -282,17 +282,6 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
 				    const float (&pos_cov)[9], const float (&vel_cov)[9],
 				    const bool valid_pos_cov, const bool valid_vel_cov)
 {
-	// This bridge does not support redundant GNSS receivers yet.
-	if (_receiver_node_id < 0) {
-		_receiver_node_id = msg.getSrcNodeID().get();
-		PX4_INFO("GNSS receiver node ID: %d", _receiver_node_id);
-
-	} else {
-		if (_receiver_node_id != msg.getSrcNodeID().get()) {
-			return;  // This GNSS receiver is the redundant one, ignore it.
-		}
-	}
-
 	sensor_gps_s report{};
 
 	/*

src/drivers/uavcan/sensors/gnss.hpp

@@ -122,7 +122,6 @@ private:
 	uORB::Subscription			_orb_inject_data_sub{ORB_ID(gps_inject_data)};
 	uORB::PublicationMulti<sensor_gps_s>	_gps_pub{ORB_ID(sensor_gps)};
 
-	int	_receiver_node_id{-1};
 	bool	_old_fix_subscriber_active{true};
 
 	orb_advert_t _report_pub;                ///< uORB pub for gnss position

src/drivers/uavcan/sensors/sensor_bridge.cpp

@@ -91,7 +91,7 @@ UavcanSensorBridgeBase::publish(const int node_id, const void *report)
 			return;  // Give up immediately - saves some CPU time
 		}
 
-		DEVICE_LOG("adding channel %d...", node_id);
+		DEVICE_LOG("adding channel for topic %s node %d...", _orb_topic->o_name, node_id);
 
 		// Search for the first free channel
 		for (unsigned i = 0; i < _max_channels; i++) {
@@ -115,7 +115,7 @@ UavcanSensorBridgeBase::publish(const int node_id, const void *report)
 		channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->instance);
 
 		channel->node_id = node_id;
-		DEVICE_LOG("channel %d instance %d ok", channel->node_id, channel->instance);
+		DEVICE_LOG("node %d instance %d ok", channel->node_id, channel->instance);
 
 		if (channel->orb_advert == nullptr) {
 			DEVICE_LOG("uORB advertise failed. Out of instances?");
@@ -124,7 +124,7 @@ UavcanSensorBridgeBase::publish(const int node_id, const void *report)
 			return;
 		}
 
-		DEVICE_LOG("channel %d instance %d ok", channel->node_id, channel->instance);
+		DEVICE_LOG("node %d topic %s instance %d ok", channel->node_id, _orb_topic->o_name, channel->instance);
 	}
 
 	assert(channel != nullptr);
@@ -151,7 +151,7 @@ uavcan_bridge::Channel *UavcanSensorBridgeBase::get_channel_for_node(int node_id
 			return channel;
 		}
 
-		DEVICE_LOG("adding channel %d...", node_id);
+		DEVICE_LOG("adding channel for topic %s node %d...", _orb_topic->o_name, node_id);
 
 		// Search for the first free channel
 		for (unsigned i = 0; i < _max_channels; i++) {