Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-08 08:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Arming: add support for separate dna_server instances for AP_UAVCAN

Browse Source
This commit is contained in:
bugobliterator 2022-04-04 16:07:51 +05:30 committed by Andrew Tridgell
parent 7ff0af7a0d
commit 527f956786
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_Arming/AP_Arming.cpp
View File

@ -1069,7 +1069,8 @@ bool AP_Arming::can_checks(bool report)
case AP_CANManager::Driver_Type_UAVCAN: case AP_CANManager::Driver_Type_UAVCAN:
{ {
#if HAL_ENABLE_LIBUAVCAN_DRIVERS #if HAL_ENABLE_LIBUAVCAN_DRIVERS
if (!AP::uavcan_dna_server().prearm_check(fail_msg, ARRAY_SIZE(fail_msg))) { AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
if (ap_uavcan != nullptr && !ap_uavcan->prearm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
check_failed(ARMING_CHECK_SYSTEM, report, "UAVCAN: %s", fail_msg); check_failed(ARMING_CHECK_SYSTEM, report, "UAVCAN: %s", fail_msg);
return false; return false;
} }