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AP_Compass: fixed uninitialised CAN device ID bits

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This commit is contained in:
Andrew Tridgell 2019-08-29 16:47:07 +10:00
parent 2b80d57688
commit c0733775bf
1 changed files with 5 additions and 17 deletions
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22
libraries/AP_Compass/AP_Compass_UAVCAN.cpp
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@ -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)) { if (ap_uavcan->register_mag_listener_to_node(this, node)) {
_instance = register_compass(); _instance = register_compass();
struct DeviceStructure { uint32_t devid = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN,
uint8_t bus_type : 3; mgr,
uint8_t bus: 5; node,
uint8_t address; 1); // the 1 is arbitrary
uint8_t devtype;
};
union DeviceId {
struct DeviceStructure devid_s;
uint32_t devid;
};
union DeviceId d;
d.devid_s.bus_type = 3; set_dev_id(_instance, devid);
d.devid_s.bus = mgr;
d.devid_s.address = node;
d.devid_s.devtype = 1;
set_dev_id(_instance, d.devid);
set_external(_instance, true); set_external(_instance, true);
_sum.zero(); _sum.zero();