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AP_CANManager: fixed de-registering CAN forwarding 

this prevented MissionPlanner MAVCAN UI from working reliably as the
CANManager could think we are registered when we are not
This commit is contained in:
Andrew Tridgell 2024-09-21 18:07:36 +10:00
parent 04ee66bec4
commit b98c7c5296
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_CANManager/AP_CANManager.cpp
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@ -427,9 +427,13 @@ bool AP_CANManager::handle_can_forward(mavlink_channel_t chan, const mavlink_com
WITH_SEMAPHORE(can_forward.sem);
const int8_t bus = int8_t(packet.param1)-1;
if (bus == -1) {
/*
a request to stop forwarding
*/
for (auto can_iface : hal.can) {
if (can_iface && can_forward.callback_id != 0) {
can_iface->unregister_frame_callback(can_forward.callback_id);
can_forward.callback_id = 0;
}
}
return true;
@ -451,6 +455,7 @@ bool AP_CANManager::handle_can_forward(mavlink_channel_t chan, const mavlink_com
for (uint8_t i=0; i<HAL_NUM_CAN_IFACES; i++) {
if (i != bus && hal.can[i] != nullptr && can_forward.callback_id != 0) {
hal.can[i]->unregister_frame_callback(can_forward.callback_id);
can_forward.callback_id = 0;
}
}
@ -647,6 +652,7 @@ void AP_CANManager::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &fram
if (can_forward.callback_id != 0 &&
AP_HAL::millis() - can_forward.last_callback_enable_ms > 5000) {
hal.can[bus]->unregister_frame_callback(can_forward.callback_id);
can_forward.callback_id = 0;
return;
}
can_forward.frame_counter = 0;