Hey all,
I’m extremely new to UAVCAN and embedded systems, but I am attempting to get the UAVCAN GNSS Node up and running but running into a compilation error.
“‘uavcan::node::Heartbeat_1_0’ is not a template”
The error message points me to line 268
My hardware is the same as the example besides a different serial GPS.
If I need to provide any more information please let me know. Any help would be greatly appreciated.
Thankyou
Sounds to me like you want to compile UAVCAN-GNSS-Node.ino?
I think you’ve got an outdated version of the codebase since this particular problem was fixed here. I recommend to download 107-Arduino-UAVCAN:master since this one contains the latest library + examples guaranteed to work.
I have still a couple of to-do-items before another round of this library will be released, so serving yourself directly from master is probably the best thing to do for now 
Fixed it straight away, probably should have been the first thing I checked haha
Thankyou very much!
@JaredDillon I’m curious why go this route in lieu of a Matek M9N-F4. You get an F405, M9N, and compass for ~$85 vs. the MKR stack coming in at ~$150.
The board you referenced does not support UAVCAN v1.
You’re assuming that he loads AP_Periph on to the M9N-F4. I was suggesting it for use w/ “Arduino” code.
That might work indeed, assuming that their hardware is Arduino-compatible.
PlatformIO has a genericSMT32F405RGT6 board type.
This example is just something to get you started and play around. Also quite beneficial is that you can swap for another sensor and just write a UAVCAN v1 node for that one. If you were to build a finished product than that’s of course not the route to take. But for rapid prototyping/evaluation/learning this is definitely the way to go 
PS: The example is tailored towards a Arduino MKR stack because that’s what I had at hand. Meanwhile 107-Arduino-UAVCAN supports a couple of platforms with a ton of boards which are considerable more powerful than the ATSAMD21G18 Cortex-M0 found on the Arduino MKR boards.