Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Bootloader: reject allocation of broadcast node ID 

It is technically legal to receive an "allocation" of the broadcast node
ID. Fortunately, this was already ignored by `canardSetLocalNodeID`,
though it would trigger an assertion failure if those were enabled.

Fix by rejecting that ID. There is effectively no change in behavior but
the code now correctly ignores that ID and retries the allocation as it
did before.
This commit is contained in:
Thomas Watson 2024-10-06 22:45:29 -05:00 committed by Andrew Tridgell
parent 41753b43d7
commit 4df758f52a
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Tools/AP_Bootloader/can.cpp
View File

@ -429,7 +429,7 @@ static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* tr
// The allocator has confirmed part of unique ID, switching to the next stage and updating the timeout.
node_id_allocation_unique_id_offset = msg.unique_id.len;
send_next_node_id_allocation_request_at_ms -= UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS;
} else {
} else if (msg.node_id != CANARD_BROADCAST_NODE_ID) { // new ID valid? (if not we will time out and start over)
// Allocation complete - copying the allocated node ID from the message
canardSetLocalNodeID(ins, msg.node_id);
}