From 2e85ba6f511e85eeee4b4b36f1ec3973fd3c2d83 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mateusz=20Mr=C3=B3z?= Date: Wed, 14 Oct 2020 09:59:01 +0200 Subject: [PATCH] AP_Periph: Restore setting node_id from CAN_NODE parameter Reverts part of commit: 584bcbac0df0947df1f63d9fcff8b483c2fa2bb4 --- Tools/AP_Periph/can.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp index 500b627e46..13e34ccc20 100644 --- a/Tools/AP_Periph/can.cpp +++ b/Tools/AP_Periph/can.cpp @@ -1016,6 +1016,10 @@ void AP_Periph_FW::can_start() node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_INITIALIZATION; node_status.uptime_sec = AP_HAL::millis() / 1000U; + if (g.can_node >= 0 && g.can_node < 128) { + PreferredNodeID = g.can_node; + } + can_iface.init(1000000, AP_HAL::CANIface::NormalMode); canardInit(&canard, (uint8_t *)canard_memory_pool, sizeof(canard_memory_pool),