AP_GPS: allow external libraries to detect CAN instance

bstott · Mar 1, 2023 · fe37282 · fe37282
1 parent 7e214b2
commit fe37282
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Showing 2 changed files with 16 additions and 0 deletions.
diff --git a/libraries/AP_GPS/AP_GPS_UAVCAN.cpp b/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
@@ -889,4 +889,16 @@ void AP_GPS_UAVCAN::handle_param_save_response(AP_UAVCAN* ap_uavcan, const uint8
     ap_uavcan->send_reboot_request(node_id);
 }
 
+#if AP_DRONECAN_SEND_GPS
+bool AP_GPS_UAVCAN::instance_exists(const AP_UAVCAN* ap_uavcan)
+{
+    for (uint8_t i=0; i<ARRAY_SIZE(_detected_modules); i++) {
+        if (ap_uavcan == _detected_modules[i].ap_uavcan) {
+            return true;
+        }
+    }
+    return false;
+}
+#endif // AP_DRONECAN_SEND_GPS
+
 #endif // HAL_ENABLE_LIBUAVCAN_DRIVERS
diff --git a/libraries/AP_GPS/AP_GPS_UAVCAN.h b/libraries/AP_GPS/AP_GPS_UAVCAN.h
@@ -71,6 +71,10 @@ class AP_GPS_UAVCAN : public AP_GPS_Backend {
     void clear_RTCMV3() override;
 #endif
 
+#if AP_DRONECAN_SEND_GPS
+    static bool instance_exists(const AP_UAVCAN* ap_uavcan);
+#endif
+
 private:
 
     bool param_configured = true;