From c0733775bf3a6b9c0a0c8c53940cce40a5230b87 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 29 Aug 2019 16:47:07 +1000
Subject: [PATCH] AP_Compass: fixed uninitialised CAN device ID bits

---
 libraries/AP_Compass/AP_Compass_UAVCAN.cpp | 22 +++++-----------------
 1 file changed, 5 insertions(+), 17 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass_UAVCAN.cpp b/libraries/AP_Compass/AP_Compass_UAVCAN.cpp
index 792c2fb602..381832c22d 100644
--- a/libraries/AP_Compass/AP_Compass_UAVCAN.cpp
+++ b/libraries/AP_Compass/AP_Compass_UAVCAN.cpp
@@ -100,24 +100,12 @@ bool AP_Compass_UAVCAN::register_uavcan_compass(uint8_t mgr, uint8_t node)
     if (ap_uavcan->register_mag_listener_to_node(this, node)) {
         _instance = register_compass();
 
-        struct DeviceStructure {
-            uint8_t bus_type : 3;
-            uint8_t bus: 5;
-            uint8_t address;
-            uint8_t devtype;
-        };
-        union DeviceId {
-            struct DeviceStructure devid_s;
-            uint32_t devid;
-        };
-        union DeviceId d;
+        uint32_t devid = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN,
+                                                     mgr,
+                                                     node,
+                                                     1); // the 1 is arbitrary
 
-        d.devid_s.bus_type = 3;
-        d.devid_s.bus = mgr;
-        d.devid_s.address = node;
-        d.devid_s.devtype = 1;
-
-        set_dev_id(_instance, d.devid);
+        set_dev_id(_instance, devid);
         set_external(_instance, true);
 
         _sum.zero();