From 1d5bf5a58ac493959410bb0381800452d54400de Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 8 Apr 2023 14:27:51 +1000 Subject: [PATCH] AP_RangeFinder: text messages and more defines --- libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.cpp | 6 +++--- libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.h | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.cpp index 712b92bca8..19cc404e48 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.cpp @@ -24,7 +24,7 @@ void AP_RangeFinder_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan) } //Method to find the backend relating to the node id -AP_RangeFinder_DroneCAN* AP_RangeFinder_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new) +AP_RangeFinder_DroneCAN* AP_RangeFinder_DroneCAN::get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new) { if (ap_dronecan == nullptr) { return nullptr; @@ -65,7 +65,7 @@ AP_RangeFinder_DroneCAN* AP_RangeFinder_DroneCAN::get_uavcan_backend(AP_DroneCAN if (driver == nullptr) { break; } - gcs().send_text(MAV_SEVERITY_INFO, "RangeFinder[%u]: added UAVCAN node %u addr %u", + gcs().send_text(MAV_SEVERITY_INFO, "RangeFinder[%u]: added DroneCAN node %u addr %u", unsigned(i), unsigned(node_id), unsigned(address)); //Assign node id and respective uavcan driver, for identification if (driver->_ap_dronecan == nullptr) { @@ -103,7 +103,7 @@ void AP_RangeFinder_DroneCAN::update() void AP_RangeFinder_DroneCAN::handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_range_sensor_Measurement &msg) { //fetch the matching uavcan driver, node id and sensor id backend instance - AP_RangeFinder_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, msg.sensor_id, true); + AP_RangeFinder_DroneCAN* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id, msg.sensor_id, true); if (driver == nullptr) { return; } diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.h index 80778b82ad..62b01782de 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.h @@ -20,7 +20,7 @@ public: void update() override; static void subscribe_msgs(AP_DroneCAN* ap_dronecan); - static AP_RangeFinder_DroneCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new); + static AP_RangeFinder_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new); static AP_RangeFinder_Backend* detect(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params); static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_range_sensor_Measurement &msg);