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AP_DroneCAN: DNAServer: avoid clearing node ID during allocation

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Not necessary and wastes flash.
This commit is contained in:
Thomas Watson 2024-09-08 21:39:03 -05:00 committed by Andrew Tridgell
parent a9455ec3d3
commit 4427cbee71
1 changed files with 0 additions and 3 deletions
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3
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
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@ -458,7 +458,6 @@ void AP_DroneCAN_DNA_Server::handleAllocation(const CanardRxTransfer& transfer,
(now - last_alloc_msg_ms) > 500) { (now - last_alloc_msg_ms) > 500) {
if (msg.first_part_of_unique_id) { if (msg.first_part_of_unique_id) {
rcvd_unique_id_offset = 0; rcvd_unique_id_offset = 0;
memset(rcvd_unique_id, 0, sizeof(rcvd_unique_id));
} else { } else {
//we are only accepting first part //we are only accepting first part
return; return;
@ -482,7 +481,6 @@ void AP_DroneCAN_DNA_Server::handleAllocation(const CanardRxTransfer& transfer,
if ((rcvd_unique_id_offset + msg.unique_id.len) > 16) { if ((rcvd_unique_id_offset + msg.unique_id.len) > 16) {
//This request is malformed, Reset! //This request is malformed, Reset!
rcvd_unique_id_offset = 0; rcvd_unique_id_offset = 0;
memset(rcvd_unique_id, 0, sizeof(rcvd_unique_id));
return; return;
} }
@ -505,7 +503,6 @@ void AP_DroneCAN_DNA_Server::handleAllocation(const CanardRxTransfer& transfer,
rsp.node_id = db.handle_allocation(msg.node_id, (const uint8_t*)rcvd_unique_id); rsp.node_id = db.handle_allocation(msg.node_id, (const uint8_t*)rcvd_unique_id);
//reset states as well //reset states as well
rcvd_unique_id_offset = 0; rcvd_unique_id_offset = 0;
memset(rcvd_unique_id, 0, sizeof(rcvd_unique_id));
} }
allocation_pub.broadcast(rsp, false); // never publish allocation message with CAN FD allocation_pub.broadcast(rsp, false); // never publish allocation message with CAN FD