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AP_BattMonitor: helper func

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Eugene Shamaev 2018-03-11 11:51:04 +02:00 committed by Tom Pittenger
parent 9195ba80fc
commit f7e9ce44b1
1 changed files with 4 additions and 7 deletions
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11
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
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@ -30,17 +30,14 @@ void AP_BattMonitor_UAVCAN::init()
} }
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) { for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
if (hal.can_mgr[i] == nullptr) { AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
if (ap_uavcan == nullptr) {
continue; continue;
} }
AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
if (uavcan == nullptr) {
continue;
}
switch (_type) { switch (_type) {
case UAVCAN_BATTERY_INFO: case UAVCAN_BATTERY_INFO:
if (uavcan->register_BM_bi_listener_to_id(this, _params._serial_number)) { if (ap_uavcan->register_BM_bi_listener_to_id(this, _params._serial_number)) {
debug_bm_uavcan(2, "UAVCAN BattMonitor BatteryInfo registered id: %d\n\r", _params._serial_number); debug_bm_uavcan(2, "UAVCAN BattMonitor BatteryInfo registered id: %d\n\r", _params._serial_number);
} }
break; break;