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AP_Baro: helper func

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This commit is contained in:
Eugene Shamaev 2018-03-11 11:51:17 +02:00 committed by Tom Pittenger
parent f7e9ce44b1
commit 13954f97cf
1 changed files with 10 additions and 16 deletions
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24
libraries/AP_Baro/AP_Baro_UAVCAN.cpp
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@ -31,15 +31,15 @@ AP_Baro_UAVCAN::~AP_Baro_UAVCAN()
if (!_initialized) { if (!_initialized) {
return; return;
} }
if (hal.can_mgr[_manager] == nullptr) {
return; AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(_manager);
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[_manager]->get_UAVCAN();
if (ap_uavcan == nullptr) { if (ap_uavcan == nullptr) {
return; return;
} }
ap_uavcan->remove_baro_listener(this); ap_uavcan->remove_baro_listener(this);
delete _sem_baro;
debug_baro_uavcan(2, "AP_Baro_UAVCAN destructed\n\r"); debug_baro_uavcan(2, "AP_Baro_UAVCAN destructed\n\r");
} }
@ -52,14 +52,12 @@ AP_Baro_Backend *AP_Baro_UAVCAN::probe(AP_Baro &baro)
AP_Baro_UAVCAN *sensor; AP_Baro_UAVCAN *sensor;
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) { for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
if (hal.can_mgr[i] == nullptr) { AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
if (ap_uavcan == nullptr) {
continue; continue;
} }
AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
if (uavcan == nullptr) { uint8_t freebaro = ap_uavcan->find_smallest_free_baro_node();
continue;
}
uint8_t freebaro = uavcan->find_smallest_free_baro_node();
if (freebaro == UINT8_MAX) { if (freebaro == UINT8_MAX) {
continue; continue;
} }
@ -98,11 +96,7 @@ void AP_Baro_UAVCAN::handle_baro_msg(float pressure, float temperature)
bool AP_Baro_UAVCAN::register_uavcan_baro(uint8_t mgr, uint8_t node) bool AP_Baro_UAVCAN::register_uavcan_baro(uint8_t mgr, uint8_t node)
{ {
if (hal.can_mgr[mgr] == nullptr) { AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(mgr);
return false;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();
if (ap_uavcan == nullptr) { if (ap_uavcan == nullptr) {
return false; return false;
} }