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AP_Proximity: text messages and more defines

This commit is contained in:
Andrew Tridgell 2023-04-08 14:27:51 +10:00
parent 4a2ad02494
commit 00b9833fac
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp
View File

@ -44,7 +44,7 @@ void AP_Proximity_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
}
//Method to find the backend relating to the node id
AP_Proximity_DroneCAN* AP_Proximity_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new)
AP_Proximity_DroneCAN* AP_Proximity_DroneCAN::get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new)
{
if (ap_dronecan == nullptr) {
return nullptr;
@ -157,7 +157,7 @@ float AP_Proximity_DroneCAN::distance_min() const
void AP_Proximity_DroneCAN::handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_proximity_sensor_Proximity &msg)
{
//fetch the matching DroneCAN driver, node id and sensor id backend instance
AP_Proximity_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, msg.sensor_id, true);
AP_Proximity_DroneCAN* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id, msg.sensor_id, true);
if (driver == nullptr) {
return;
}

2
libraries/AP_Proximity/AP_Proximity_DroneCAN.h
View File

@ -24,7 +24,7 @@ public:
float distance_min() const override;
static AP_Proximity_DroneCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new);
static AP_Proximity_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new);
static void subscribe_msgs(AP_DroneCAN* ap_dronecan);