Øyvind Taksdal Stubhaug

@PetervdPerk-NXP Thanks for the quick response! Yeah, sorry, I was a bit quick and didn't look close enough at the entire commit history and PR to see that I just...

Or I guess the best would be to actually include a deinit method in the `CanInitHelper` and perform proper deinitialization.

@PetervdPerk-NXP I investigated a bit further why the code actually crashed by running init twice, and it is because the init bit is not properly set here, so it times...

It is because `initOnce` resets the FDCan driver. Just always performing a reset with `RCC_APB1RSTR_CAN1RST` also solves the issue on CubeOrange (stm32h7). The same probably applies to regular stm32 driver....

@dakejahl > > Also, some of the print statements are nested within several layers of function calls, and even across other modules, such as the esc and servo printStatus() >...

> Just a heads-up that the math for the EKF2 relposned (heading) update might look simpler if the sensor_gnss_relative contained the NED vector same as the relposned ubx msg and...

Thanks for the interest! I'm very busy with some other deadlines for the rest of the year, so I probably don't have the capacity to work more on upstreaming this...