修复断电默认id-1，uavcan电流计去除多余参数

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

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;