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PNP fixed allocation scheme

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Fixed register scheme
Incrased wq:uavcan stack since it overflowed when sending register response
This commit is contained in:
Peter van der Perk
2021-03-07 21:49:05 +01:00
committed by Lorenz Meier
parent 28c76663cd
commit 18a8d89fa4
3 changed files with 15 additions and 15 deletions
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src/drivers/uavcan_v1/Uavcan.cpp
+2 -1
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@@ -572,10 +572,11 @@ int UavcanNode::handleRegisterList(const CanardTransfer &receive)
} else {
uavcan_register_Value_1_0 out_value;
_node_manager._node_register_last_received_index++;
_node_manager._uavcan_pnp_nodeidallocation_last = hrt_absolute_time(); // Reset timer for next request
if (_param_manager.GetParamByName(msg.name, out_value)) {
_node_manager._node_register_setup = CANARD_NODE_ID_UNSET;
_node_manager._node_register_last_received_index++;
uavcan_register_Access_Request_1_0 request_msg;
memcpy(&request_msg.name, &msg.name, sizeof(uavcan_register_Name_1_0));