From 89a50b99bb5971d36a44ff089171e64c1d317d9d Mon Sep 17 00:00:00 2001
From: Mike Clement <mrclemen@nps.edu>
Date: Mon, 6 Apr 2015 14:47:11 -0700
Subject: [PATCH] SerialManager: use instance in find_baudrate

---
 libraries/AP_SerialManager/AP_SerialManager.cpp | 10 ++++++++--
 libraries/AP_SerialManager/AP_SerialManager.h   |  3 ++-
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_SerialManager/AP_SerialManager.cpp b/libraries/AP_SerialManager/AP_SerialManager.cpp
index dff9319c50..42c92c80b0 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.cpp
+++ b/libraries/AP_SerialManager/AP_SerialManager.cpp
@@ -187,13 +187,19 @@ AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol,
 }
 
 // find_baudrate - searches available serial ports for the first instance that allows the given protocol
+//  instance should be zero if searching for the first instance, 1 for the second, etc
 //  returns baudrate on success, 0 if a serial port cannot be found
-uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol) const
+uint32_t AP_SerialManager::find_baudrate(enum SerialProtocol protocol, uint8_t instance) const
 {
+    uint8_t found_instance = 0;
+
     // search for matching protocol
     for(uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
         if ((enum SerialProtocol)state[i].protocol.get() == protocol) {
-            return map_baudrate(state[i].baud);
+            if (found_instance == instance) {
+                return map_baudrate(state[i].baud);
+            }
+            found_instance++;
         }
     }
 
diff --git a/libraries/AP_SerialManager/AP_SerialManager.h b/libraries/AP_SerialManager/AP_SerialManager.h
index c5fe26fe09..7c18a9b65a 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.h
+++ b/libraries/AP_SerialManager/AP_SerialManager.h
@@ -93,8 +93,9 @@ public:
     AP_HAL::UARTDriver *find_serial(enum SerialProtocol protocol, uint8_t instance) const;
 
     // find_baudrate - searches available serial ports for the first instance that allows the given protocol
+    //  instance should be zero if searching for the first instance, 1 for the second, etc
     //  returns the baudrate of that protocol on success, 0 if a serial port cannot be found
-    uint32_t find_baudrate(enum SerialProtocol protocol) const;
+    uint32_t find_baudrate(enum SerialProtocol protocol, uint8_t instance) const;
 
     // get_mavlink_channel - provides the mavlink channel associated with a given protocol (and instance)
     //  instance should be zero if searching for the first instance, 1 for the second, etc