AP_Baro: correct duplication check for i2c baro devices

peterbarker · peterbarker · commit 3b65760f98b0 · 2026-01-02T11:17:24.000+11:00
we're indexing into the sensors array, so we should only iterate up to the number of sensors we have

could be a problem if there are DroneCAN backends involved as that can cause a mismatch between _num_sensors and _num_drivers
diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
@@ -504,7 +504,7 @@ bool AP_Baro::_add_backend(AP_Baro_Backend *backend)
  */
 bool AP_Baro::_have_i2c_driver(uint8_t bus, uint8_t address) const
 {
-    for (int i=0; i<_num_drivers; ++i) {
+    for (int i=0; i<_num_sensors; ++i) {
         if (AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C, bus, address, 0) ==
             AP_HAL::Device::change_bus_id(uint32_t(sensors[i].bus_id.get()), 0)) {
             // device already has been defined.

Original file line number	Diff line number	Diff line change
`@@ -504,7 +504,7 @@ bool AP_Baro::_add_backend(AP_Baro_Backend *backend)`
`504`	`504`	`*/`
`505`	`505`	`bool AP_Baro::_have_i2c_driver(uint8_t bus, uint8_t address) const`
`506`	`506`	`{`
`507`		`- for (int i=0; i<_num_drivers; ++i) {`
	`507`	`+ for (int i=0; i<_num_sensors; ++i) {`
`508`	`508`	`if (AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C, bus, address, 0) ==`
`509`	`509`	`AP_HAL::Device::change_bus_id(uint32_t(sensors[i].bus_id.get()), 0)) {`
`510`	`510`	`// device already has been defined.`