UAVCAN: initialize device id for mag and baro to allow DEVIOCGDEVICEID ioctl to return useful data

3 files changed, 7 insertions, 0 deletions

diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp
index 8e6a9a22f..0d9ea08c5 100644
--- a/src/modules/uavcan/sensors/mag.cpp
+++ b/src/modules/uavcan/sensors/mag.cpp
@@ -49,6 +49,8 @@ UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode& node) :
 UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_DEVICE_PATH, MAG_TOPICS),
 _sub_mag(node)
 {
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;
+
 	_scale.x_scale = 1.0F;
 	_scale.y_scale = 1.0F;
 	_scale.z_scale = 1.0F;
diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp
index 9608ce680..0999938fc 100644
--- a/src/modules/uavcan/sensors/sensor_bridge.cpp
+++ b/src/modules/uavcan/sensors/sensor_bridge.cpp
@@ -103,6 +103,9 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
 			return;
 		}
 
+		// update device id as we now know our device node_id
+		_device_id.devid_s.address = static_cast<uint8_t>(node_id);
+
 		// Ask the CDev helper which class instance we can take
 		const int class_instance = register_class_devname(_class_devname);
 		if (class_instance < 0 || class_instance >= int(_max_channels)) {
diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp
index 1316f7ecc..04c59b77d 100644
--- a/src/modules/uavcan/sensors/sensor_bridge.hpp
+++ b/src/modules/uavcan/sensors/sensor_bridge.hpp
@@ -112,6 +112,8 @@ protected:
 	_channels(new Channel[MaxChannels])
 	{
 		memcpy(_orb_topics, orb_topics, sizeof(orb_id_t) * MaxChannels);
+		_device_id.devid_s.bus_type = DeviceBusType_UAVCAN;
+		_device_id.devid_s.bus = 1; // @TBD: insert UAVCAN bus no. here
 	}
 
 	/**