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AP_DroneCAN_DNA_Server : adding delay while logging 'CAND' #213

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Oct 1, 2024
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AP_DroneCAN_DNA_Server : adding delay while logging 'CAND' #213

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7 changes: 7 additions & 0 deletions libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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Suggested change
// Temporary fix to address the missing nodes - 15 and 24
// Do not log until we are more than 30 seconds into boot
// (temporary fix for lossy logging, causing some CAND messages to be lost)

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additional comment is updated

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All nodes are now showing up :
image

// 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
*/
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