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AP_Compass: fix issue with compass registration for more than 3 compasses

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This fixes an issue where we would fail to register a dronecan compass
if its not already in the stored DEV_ID position that matches the detection order

This is fixed by ensuring that we try our best to register the compass in the stored DEV_ID position
that matches the priority order.

This in turn allows for over 3 dronecan compasses to appear and not cause incorrect
registration failures at boot.
This commit is contained in:
bugobliterator
2025-11-26 18:05:59 +11:00
committed by Andrew Tridgell
parent d0554c3ce3
commit a6d03bb8a1
3 changed files with 13 additions and 0 deletions
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libraries/AP_Compass/AP_Compass.cpp
+11
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@@ -991,6 +991,17 @@ bool Compass::register_compass(int32_t dev_id, uint8_t& instance)
// This might be a replacement compass module, find any unregistered compass
// instance and replace that
priority = _update_priority_list(dev_id);
// try to match priority and state index if possible, this ensure that compass order
// to state order while detection is preserved, this ensures that if compasses in priority
// list show up out of order during detection, it does not replace the state.
StateIndex priority_index = StateIndex(uint8_t(priority));
if (!_state[priority_index].registered && priority < COMPASS_MAX_INSTANCES) {
_state[priority_index].registered = true;
_state[priority_index].priority = priority;
instance = uint8_t(priority_index);
return true;
}
for (StateIndex i(0); i<COMPASS_MAX_INSTANCES; i++) {
priority = _update_priority_list(dev_id);
if (!_state[i].registered && priority < COMPASS_MAX_INSTANCES) {