From aae2d0082d964b20d512cd0769a24a0156cf72bd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E6=9D=8E=E5=AD=9F=E6=99=93?= <mengxiao@cuav.net>
Date: Mon, 10 Aug 2020 02:58:02 +0000
Subject: [PATCH] AP_BattMonitor_UAVCAN: Fix issue with multiple batteries not
 working

---
 libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
index 177078ea5c..d9cbcc4c22 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
@@ -67,6 +67,9 @@ AP_BattMonitor_UAVCAN* AP_BattMonitor_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_u
             match_battery_id(i, battery_id)) {
 
             AP_BattMonitor_UAVCAN* batmon = (AP_BattMonitor_UAVCAN*)AP::battery().drivers[i];
+            if(batmon->_ap_uavcan != nullptr || batmon->_node_id != 0) {
+                continue;
+            }
             batmon->_ap_uavcan = ap_uavcan;
             batmon->_node_id = node_id;
             batmon->init();