From 4ba1f966e556a5aa6830ec22df8d860f078ca14f Mon Sep 17 00:00:00 2001
From: JacobCrabill <jacob@flyvoly.com>
Date: Thu, 24 Jun 2021 17:14:06 -0700
Subject: [PATCH] uavcan_v1: Add update and print support to
 SubscriptionManager

---
 src/drivers/uavcan_v1/SubscriptionManager.cpp | 12 +++++++++++-
 src/drivers/uavcan_v1/SubscriptionManager.hpp |  1 +
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/drivers/uavcan_v1/SubscriptionManager.cpp b/src/drivers/uavcan_v1/SubscriptionManager.cpp
index f4eddd0007..136e08c191 100644
--- a/src/drivers/uavcan_v1/SubscriptionManager.cpp
+++ b/src/drivers/uavcan_v1/SubscriptionManager.cpp
@@ -88,10 +88,20 @@ void SubscriptionManager::subscribe()
 
 void SubscriptionManager::printInfo()
 {
+	UavcanDynamicPortSubscriber *dynsub = _dynsubscribers;
 
+	while (dynsub != NULL) {
+		dynsub->printInfo();
+		dynsub = dynsub->next();
+	}
 }
 
 void SubscriptionManager::updateParams()
 {
-	//TODO dynamically update params and unsubscribe
+	UavcanDynamicPortSubscriber *dynsub = _dynsubscribers;
+
+	while (dynsub != NULL) {
+		dynsub->updateParam();
+		dynsub = dynsub->next();
+	}
 }
diff --git a/src/drivers/uavcan_v1/SubscriptionManager.hpp b/src/drivers/uavcan_v1/SubscriptionManager.hpp
index 93b33bbc9d..498a8c7c91 100644
--- a/src/drivers/uavcan_v1/SubscriptionManager.hpp
+++ b/src/drivers/uavcan_v1/SubscriptionManager.hpp
@@ -78,6 +78,7 @@ private:
 	UavcanDynamicPortSubscriber *_dynsubscribers {NULL};
 
 	UavcanHeartbeatSubscriber _heartbeat_sub {_canard_instance};
+
 	// GetInfo response
 	UavcanGetInfoResponse _getinfo_rsp {_canard_instance};