AP_UAVCAN: ensure that we publish allocation messages in STD CAN format

3 years ago · 3569435531
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
@ -276,7 +276,7 @@ bool AP_UAVCAN_DNA_Server::init(AP_UAVCAN *ap_uavcan)
				@@ -276,7 +276,7 @@ bool AP_UAVCAN_DNA_Server::init(AP_UAVCAN *ap_uavcan)
    server_state = HEALTHY;

    //Setup publisher for this driver index
-    allocation_pub[driver_index] = new uavcan::Publisher<uavcan::protocol::dynamic_node_id::Allocation>(*_node);
+    allocation_pub[driver_index] = new uavcan::Publisher<uavcan::protocol::dynamic_node_id::Allocation>(*_node, true);
    if (allocation_pub[driver_index] == nullptr) {
        AP_BoardConfig::allocation_error("AP_UAVCAN_DNA: allocation_pub[%d]", driver_index);
    }