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get_next_active_node_id() - starting from 0

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This commit is contained in:
Pavel Kirienko
2016-10-21 00:16:19 +03:00
committed by Lorenz Meier
parent 9448e0d673
commit eff6a7b5d0
1 changed files with 3 additions and 3 deletions
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src/modules/uavcan/uavcan_servers.cpp
+3 -3
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@@ -403,7 +403,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
*/
_param_index = 0;
_param_list_in_progress = true;
_param_list_node_id = get_next_active_node_id(1);
_param_list_node_id = get_next_active_node_id(0);
_param_list_all_nodes = true;
warnx("UAVCAN command bridge: starting global param list with node %hhu", _param_list_node_id);
@@ -491,7 +491,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
// Leaving it as-is to avoid breaking compatibility with non-compliant nodes.
req.parameter_name = "esc_index";
req.timeout_sec = _esc_enumeration_active ? 65535 : 0;
call_res = _enumeration_client.call(get_next_active_node_id(1), req);
call_res = _enumeration_client.call(get_next_active_node_id(0), req);
if (call_res < 0) {
warnx("UAVCAN ESC enumeration: couldn't send initial Begin request: %d", call_res);
beep(BeepFrequencyError);
@@ -864,7 +864,7 @@ void UavcanServers::cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::
// Leaving it as-is to avoid breaking compatibility with non-compliant nodes.
req.parameter_name = "esc_index";
req.timeout_sec = 0;
int call_res = _enumeration_client.call(get_next_active_node_id(1), req);
int call_res = _enumeration_client.call(get_next_active_node_id(0), req);
if (call_res < 0) {
warnx("UAVCAN ESC enumeration: couldn't send Begin request to stop enumeration: %d", call_res);
} else {