From e866a574dd2187eb3961aad284f2be8cd0fb4276 Mon Sep 17 00:00:00 2001
From: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
Date: Thu, 1 Nov 2018 16:45:33 +0530
Subject: [PATCH] AP_UAVCAN:add hex flow sensor message

---
 libraries/AP_UAVCAN/AP_UAVCAN.cpp                             | 4 ++--
 .../dsdl/com/hex/equipment/flow/20200.Measurement.uavcan      | 4 ++++
 2 files changed, 6 insertions(+), 2 deletions(-)
 create mode 100644 libraries/AP_UAVCAN/dsdl/com/hex/equipment/flow/20200.Measurement.uavcan

diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index 481bc03687..4a872dfadb 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -43,7 +43,7 @@
 #include <AP_Compass/AP_Compass_UAVCAN.h>
 #include <AP_Airspeed/AP_Airspeed_UAVCAN.h>
 #include <SRV_Channel/SRV_Channel.h>
-#include <AP_OpticalFlow/AP_OpticalFlow_UAVCAN.h>
+#include <AP_OpticalFlow/AP_OpticalFlow_HereFlow.h>
 
 #define LED_DELAY_US 50000
 
@@ -207,7 +207,7 @@ void AP_UAVCAN::init(uint8_t driver_index, bool enable_filters)
     AP_Baro_UAVCAN::subscribe_msgs(this);
     AP_BattMonitor_UAVCAN::subscribe_msgs(this);
     AP_Airspeed_UAVCAN::subscribe_msgs(this);
-    AP_OpticalFlow_UAVCAN::subscribe_msgs(this);
+    AP_OpticalFlow_HereFlow::subscribe_msgs(this);
     AP_RangeFinder_UAVCAN::subscribe_msgs(this);
 
     act_out_array[driver_index] = new uavcan::Publisher<uavcan::equipment::actuator::ArrayCommand>(*_node);
diff --git a/libraries/AP_UAVCAN/dsdl/com/hex/equipment/flow/20200.Measurement.uavcan b/libraries/AP_UAVCAN/dsdl/com/hex/equipment/flow/20200.Measurement.uavcan
new file mode 100644
index 0000000000..768134e192
--- /dev/null
+++ b/libraries/AP_UAVCAN/dsdl/com/hex/equipment/flow/20200.Measurement.uavcan
@@ -0,0 +1,4 @@
+float32 integration_interval    # Integration Interval in seconds
+float32[2] rate_gyro_integral   # Integrated Gyro Data in radians
+float32[2] flow_integral        # Integrated LOS Data in radians
+uint8 quality                   # Flow Data Quality Lowest(0)-Highest(255) Unitless