uavcan_v1: Publisher: Fix port_id update

src/drivers/uavcan_v1/Publishers/Publisher.hpp

@@ -68,8 +68,6 @@ public:
 	// Update the uORB Subscription and broadcast a UAVCAN message
 	virtual void update() = 0;
 
-	bool isValidPortId(int32_t id) const { return id >= 0 && id <= CANARD_PORT_ID_MAX; }
-
 	CanardPortID id() { return _port_id; };
 
 	void updateParam()
@@ -79,23 +77,19 @@ public:
 
 		// Set _port_id from _uavcan_param
 		uavcan_register_Value_1_0 value;
-		_param_manager.GetParamByName(uavcan_param, value);
-		uint16_t new_id = value.natural16.value.elements[0];
 
-		// Allow, for example, a default PX4 param value of '-1' to disable publication
+		if (_param_manager.GetParamByName(uavcan_param, value)) {
-		if (!isValidPortId(new_id)) {
+			uint16_t new_id = value.natural16.value.elements[0];
-			// but always use the standard 'unset' value for comparison
-			new_id = CANARD_PORT_ID_UNSET;
-		}
 
-		if (_port_id != new_id) {
+			if (_port_id != new_id) {
-			if (new_id == CANARD_PORT_ID_UNSET) {
+				if (new_id == CANARD_PORT_ID_UNSET) {
-				PX4_INFO("Disabling publication of subject %s.%d", _subject_name, _instance);
+					PX4_INFO("Disabling publication of subject %s.%d", _subject_name, _instance);
-				_port_id = CANARD_PORT_ID_UNSET;
+					_port_id = CANARD_PORT_ID_UNSET;
 
-			} else {
+				} else {
-				_port_id = (CanardPortID)new_id;
+					_port_id = (CanardPortID)new_id;
-				PX4_INFO("Enabling subject %s.%d on port %d", _subject_name, _instance, _port_id);
+					PX4_INFO("Enabling subject %s.%d on port %d", _subject_name, _instance, _port_id);
+				}
 			}
 		}
 	};
@@ -104,6 +98,9 @@ public:
 	{
 		if (_port_id != CANARD_PORT_ID_UNSET) {
 			PX4_INFO("Enabled subject %s.%d on port %d", _subject_name, _instance, _port_id);
+
+		} else {
+			PX4_INFO("Subject %s.%d disabled", _subject_name, _instance);
 		}
 	}