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AP_GPS: helper func

This commit is contained in:
Eugene Shamaev 2018-03-11 11:50:40 +02:00 committed by Tom Pittenger
parent 05c8d4cc36
commit 9f27a65f4b
2 changed files with 7 additions and 10 deletions
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8
libraries/AP_GPS/AP_GPS.cpp
View File

@ -432,13 +432,11 @@ void AP_GPS::detect_instance(uint8_t instance)
return;
}
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
if (hal.can_mgr[i] == nullptr) {
continue;
}
AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
if (uavcan == nullptr) {
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
if (ap_uavcan == nullptr) {
continue;
}
uint8_t gps_node = uavcan->find_gps_without_listener();
if (gps_node == UINT8_MAX) {
continue;

9
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
View File

@ -37,15 +37,14 @@ AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UA
// For each instance we need to deregister from AP_UAVCAN class
AP_GPS_UAVCAN::~AP_GPS_UAVCAN()
{
if (hal.can_mgr[_manager] == nullptr) {
return;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[_manager]->get_UAVCAN();
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(_manager);
if (ap_uavcan == nullptr) {
return;
}
ap_uavcan->remove_gps_listener(this);
delete _sem_gnss;
debug_gps_uavcan(2, "AP_GPS_UAVCAN destructed\n\r");
}