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SRV_Channel: adapt to changes in AP_BoardConfig_CAN

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This commit is contained in:
Francisco Ferreira 2018-07-18 07:27:38 +01:00
parent 3b61a31bb4
commit 861e1a0a54
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GPG Key ID: F63C20A6773E787E
1 changed files with 4 additions and 4 deletions
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8
libraries/SRV_Channel/SRV_Channels.cpp
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@ -138,7 +138,7 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
// @Path: ../AP_BLHeli/AP_BLHeli.cpp // @Path: ../AP_BLHeli/AP_BLHeli.cpp
AP_SUBGROUPINFO(blheli, "_BLH_", 21, SRV_Channels, AP_BLHeli), AP_SUBGROUPINFO(blheli, "_BLH_", 21, SRV_Channels, AP_BLHeli),
#endif #endif
AP_GROUPEND AP_GROUPEND
}; };
@ -224,7 +224,7 @@ void SRV_Channels::cork()
void SRV_Channels::push() void SRV_Channels::push()
{ {
hal.rcout->push(); hal.rcout->push();
// give volz library a chance to update // give volz library a chance to update
volz_ptr->update(); volz_ptr->update();
@ -238,8 +238,8 @@ void SRV_Channels::push()
#if HAL_WITH_UAVCAN #if HAL_WITH_UAVCAN
// push outputs to UAVCAN // push outputs to UAVCAN
uint8_t can_num_ifaces = AP_BoardConfig_CAN::get_can_num_ifaces(); uint8_t can_num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS && i < can_num_ifaces; i++) { for (uint8_t i = 0; i < can_num_drivers; i++) {
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i); AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
if (ap_uavcan == nullptr) { if (ap_uavcan == nullptr) {
continue; continue;