AP_UAVCAN: add config for enabling/disabling can filters

libraries/AP_UAVCAN/AP_UAVCAN.cpp

@@ -123,7 +123,7 @@ AP_UAVCAN *AP_UAVCAN::get_uavcan(uint8_t driver_index)
     return static_cast<AP_UAVCAN*>(AP::can().get_driver(driver_index));
 }
 
-void AP_UAVCAN::init(uint8_t driver_index)
+void AP_UAVCAN::init(uint8_t driver_index, bool enable_filters)
 {
     if (_initialized) {
         debug_uavcan(2, "UAVCAN: init called more than once\n\r");
@@ -219,8 +219,9 @@ void AP_UAVCAN::init(uint8_t driver_index)
     rgb_led[driver_index]->setPriority(uavcan::TransferPriority::OneHigherThanLowest);
 
     _led_conf.devices_count = 0;
-
+    if (enable_filters) {
-    configureCanAcceptanceFilters(*_node);
+        configureCanAcceptanceFilters(*_node);
+    }
 
     /*
      * Informing other nodes that we're ready to work.

libraries/AP_UAVCAN/AP_UAVCAN.h

@@ -68,7 +68,7 @@ public:
     // Return uavcan from @driver_index or nullptr if it's not ready or doesn't exist
     static AP_UAVCAN *get_uavcan(uint8_t driver_index);
 
-    void init(uint8_t driver_index) override;
+    void init(uint8_t driver_index, bool enable_filters) override;
 
     uavcan::Node<0>* get_node() { return _node; }
     uint8_t get_driver_index() { return _driver_index; }