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uavcan: fix logic for static node id

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This commit is contained in:
Jacob Dahl
2025-10-17 11:39:23 -08:00
committed by Jacob Dahl
parent b3acde4899
commit 444b31be21
1 changed files with 5 additions and 8 deletions
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src/drivers/uavcannode/UavcanNode.cpp
+5 -8
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@@ -547,7 +547,7 @@ void UavcanNode::Run()
*/
if (_dyn_node_id_client.isAllocationComplete()) {
PX4_INFO("Got node ID %d", _dyn_node_id_client.getAllocatedNodeID().get());
PX4_INFO("Assigned node ID %d", _dyn_node_id_client.getAllocatedNodeID().get());
_node.setNodeID(_dyn_node_id_client.getAllocatedNodeID());
_init_state = Allocated;
@@ -824,25 +824,22 @@ extern "C" int uavcannode_start(int argc, char *argv[])
}
}
// Read the static node ID parameter and use it if no valid node_id from shared memory
// Use a static node ID if the parameter is set and in range
int32_t cannode_node_id = 0;
param_get(param_find("CANNODE_NODE_ID"), &cannode_node_id);
// Check if the static node ID is in range
if (cannode_node_id < 0 || cannode_node_id > uavcan::NodeID::Max) {
PX4_ERR("Invalid static node ID %ld, using dynamic allocation", cannode_node_id);
cannode_node_id = 0;
}
node_id = 0;
// Assign the static node ID if no dynamic allocation is used. Do wen't override a valid node ID from the bootloader?
if (node_id == 0 && cannode_node_id > 0 && cannode_node_id <= uavcan::NodeID::Max) {
} else {
node_id = cannode_node_id;
}
// Persist the node ID for the bootloader
bootloader_app_shared_t shared_write = {};
shared_write.node_id = node_id;
shared_write.bus_speed = bitrate;
shared_write.bus_speed = 0; // we always want to autobaud
bootloader_app_shared_write(&shared_write, BootLoader);
if (