AP_UAVCAN: added CAN_Dn_UC_OPTION parameter #18641
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tridge
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peterbarker
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Sep 14, 2021
bugobliterator
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Sep 16, 2021
| @@ -541,7 +547,7 @@ void AP_UAVCAN_DNA_Server::handleNodeInfo(uint8_t node_id, uint8_t unique_id[], | |||
| nodeInfo_resp_rcvd = true; | |||
| } | |||
| setVerificationMask(node_id); | |||
| } else { | |||
| } else if (!_ap_uavcan->check_option(AP_UAVCAN::Options::DNA_IGNORE_DUPLICATE_NODE)) { | |||
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I believe a better, safer way might be to allow replacement, not duplication. Maybe something like if a node pops up with same node id replace it, and then if a node shows up again with same node ID within X amount of time, raise alarm.
This might not be required for tightly controlled setups. But for DIY and prototypes, there should at least be some sort of disclaimer put on this, so people don't misuse this option.
this allows for 2 ways of controlling conflicts in the UAVCAN DNA database. The first is to set CAN_Dn_UC_OPTION to 1, which resets the DNA database, thus clearing any node conflicts. The second is to set CAN_Dn_UC_OPTION to 2, which ignores node conflicts in the DNA database These options are useful for vehicles with UAVCAN smart batteries where the node ID is fixed but the hwid changes and you want to do battery swapping (possibly without rebooting)
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this allows for 2 ways of controlling conflicts in the UAVCAN DNA
database. The first is to set CAN_Dn_UC_OPTION to 1, which resets the
DNA database on the next boot, thus clearing any node conflicts.
The second is to set CAN_Dn_UC_OPTION to 2, which ignores node
conflicts in the DNA database
These options are useful for vehicles with UAVCAN smart batteries
where the node ID is fixed but the hwid changes and you want to do
battery swapping (possibly without rebooting)