module_name: uavcannode
parameters:
- group: UAVCAN
  definitions:
    CANNODE_NODE_ID:
      description:
        short: UAVCAN CAN node ID (0 for dynamic allocation)
      type: int32
      default: 0
      min: 0
      max: 127
    CANNODE_BITRATE:
      description:
        short: UAVCAN CAN bus bitrate
      type: int32
      default: 1000000
      min: 20000
      max: 1000000
    CANNODE_TERM:
      description:
        short: CAN built-in bus termination
      type: boolean
      default: 0
      max: 1
    CANNODE_SUB_MBD:
      description:
        short: Enable MovingBaselineData subscription
      type: boolean
      default: 0
      max: 1
      reboot_required: true
    CANNODE_SUB_RTCM:
      description:
        short: Enable RTCM subscription
      type: boolean
      default: 0
      reboot_required: true
    CANNODE_PUB_MBD:
      description:
        short: Enable MovingBaselineData publication
      type: boolean
      default: 0
      reboot_required: true
    CANNODE_PUB_IMU:
      description:
        short: Enable RawIMU pub
      type: boolean
      default: 0
      max: 1
    CANNODE_PUB_BAR:
      description:
        short: Enable barometer publication
        long: |-
          Enables publication of static pressure and static temperature
          from the barometer sensor over UAVCAN.
      type: boolean
      default: 1
      max: 1
      reboot_required: true
    CANNODE_PUB_MAG:
      description:
        short: Enable magnetometer publication
        long: |-
          Enables publication of magnetic field strength
          from the magnetometer sensor over UAVCAN.
      type: boolean
      default: 1
      max: 1
      reboot_required: true

    CANNODE_PT_SENS:
      description:
        short: Temperature sensor device ID for pitot temperature
        long: |-
          Device ID of the temperature sensor (HEATER*_SENS_ID) whose value
          is published as pitot_temperature in uavcan::equipment::air_data::RawAirData.
          Set to 0 to disable (RawAirData.pitot_temperature set to NaN).
      type: int32
      default: 0
      reboot_required: true