From cefaa357a3239e13b53040ecd17a02d910c6691a Mon Sep 17 00:00:00 2001 From: Pradeep CK Date: Tue, 1 Oct 2024 10:27:06 +1000 Subject: [PATCH] AP_DroneCAN_DNA_Server : adding delay while logging 'CAND' This delay was added since the logging of CAND data for node-IDs 15 and 24 were always missing. More details of this problem can be found here : https://carbonix.atlassian.net/jira/software/c/projects/SW/boards/42/timeline?selectedIssue=SW-398 --- libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp b/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp index 3e9c414278..f9d1bd5b6e 100644 --- a/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp +++ b/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp @@ -439,6 +439,13 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co if (transfer.source_node_id > MAX_NODE_ID) { return; } + + // Temporary fix to address the missing nodes - 15 and 24 + // Do not log until we are more than 30 seconds into boot + if (AP_HAL::millis() < 30000){ + return; + } + /* if we haven't logged this node then log it now */