From 51377db2096ecff375590a66f8cca1f86d00b9c3 Mon Sep 17 00:00:00 2001
From: binsir <yaozb04@163.com>
Date: Tue, 3 Aug 2021 19:25:22 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E6=96=AD=E7=94=B5=E9=BB=98?=
 =?UTF-8?q?=E8=AE=A4id-1=EF=BC=8Cuavcan=E7=94=B5=E6=B5=81=E8=AE=A1?=
 =?UTF-8?q?=E5=8E=BB=E9=99=A4=E5=A4=9A=E4=BD=99=E5=8F=82=E6=95=B0?=
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Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp | 10 ++++------
 libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h   |  4 ++--
 2 files changed, 6 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
index 8ff6892281..fcbb625da5 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
@@ -24,7 +24,6 @@ AP_BattMonitor_UAVCAN::AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor
 {
     // starts with not healthy
     _state.healthy = false;
-    _params._serial_number = AP_BATT_SERIAL_NUMBER_DEFAULT;
 }
 
 void AP_BattMonitor_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
@@ -45,7 +44,7 @@ void AP_BattMonitor_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
     }
 }
 
-AP_BattMonitor_UAVCAN* AP_BattMonitor_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id,uint8_t battery_id, bool create_new)
+AP_BattMonitor_UAVCAN* AP_BattMonitor_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id,uint8_t battery_id)
 {
     if (ap_uavcan == nullptr) {
         return nullptr;
@@ -82,10 +81,9 @@ AP_BattMonitor_UAVCAN* AP_BattMonitor_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_u
     return nullptr;
 }
 
-void AP_BattMonitor_UAVCAN::handle_battery_info(const BattInfoCb &cb,uint8_t index)
+void AP_BattMonitor_UAVCAN::handle_battery_info(const BattInfoCb &cb)
 {
     WITH_SEMAPHORE(_sem_battmon);
-    _params._serial_number.set_and_notify(index);
     _interim_state.temperature = cb.msg->temperature;
     _interim_state.voltage = cb.msg->voltage;
     _interim_state.current_amps = cb.msg->current;
@@ -108,12 +106,12 @@ void AP_BattMonitor_UAVCAN::handle_battery_info(const BattInfoCb &cb,uint8_t ind
 
 void AP_BattMonitor_UAVCAN::handle_battery_info_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const BattInfoCb &cb)
 {
-    AP_BattMonitor_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id,ap_uavcan->get_driver_index(),true);
+    AP_BattMonitor_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id,ap_uavcan->get_driver_index());
 
     if (driver == nullptr) {
         return;
     }
-    driver->handle_battery_info(cb,ap_uavcan->get_driver_index());
+    driver->handle_battery_info(cb);
 }
 
 // read - read the voltage and current
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h b/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h
index 165f0c3053..9728a86ea2 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h
@@ -29,11 +29,11 @@ public:
     }
 
     static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
-    static AP_BattMonitor_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id,uint8_t baterry_id, bool create_new);
+    static AP_BattMonitor_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id,uint8_t baterry_id);
     static void handle_battery_info_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const BattInfoCb &cb);
 
 private:
-    void handle_battery_info(const BattInfoCb &cb,uint8_t);
+    void handle_battery_info(const BattInfoCb &cb);
 
     AP_BattMonitor::BattMonitor_State _interim_state;
     BattMonitor_UAVCAN_Type _type;