From 4fb5b6db9fab1f2d0c54f45a0ccfa0c6a6033479 Mon Sep 17 00:00:00 2001
From: Atsushi Watanabe <atsushi.w@ieee.org>
Date: Thu, 25 Apr 2019 16:58:54 +0900
Subject: [PATCH] Fix protocol version send target (#106)

---
 src/param.c | 16 +++++++++-------
 1 file changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/param.c b/src/param.c
index 5c0a543..b0b0b88 100644
--- a/src/param.c
+++ b/src/param.c
@@ -1020,18 +1020,16 @@ int apply_robot_params()
   // ウォッチドックタイマの設定
   for (j = 0; j < YP_PARAM_MAX_MOTOR_NUM; j++)
   {
-    if (!g_param.motor_enable[j])
-      continue;
-    parameter_set(PARAM_watch_dog_limit, j, 1200);
+    if (g_param.motor_enable[j])
+      parameter_set(PARAM_watch_dog_limit, j, 1200);
   }
 
   if (g_param_init)
   {
     for (j = 0; j < YP_PARAM_MAX_MOTOR_NUM; j++)
     {
-      if (!g_param.motor_enable[j])
-        continue;
-      parameter_set(PARAM_w_ref, j, 0);
+      if (g_param.motor_enable[j])
+        parameter_set(PARAM_w_ref, j, 0);
     }
     g_param_init = 0;
   }
@@ -1040,7 +1038,11 @@ int apply_robot_params()
   {
     int version, age;
     sscanf(YP_PROTOCOL_NAME, "YPP:%d:%d", &version, &age);
-    parameter_set(PARAM_protocol_version, 0, version);
+    for (j = 0; j < YP_PARAM_MAX_MOTOR_NUM; j++)
+    {
+      if (g_param.motor_enable[j])
+        parameter_set(PARAM_protocol_version, j, version);
+    }
   }
 
   /* モータのパラメータ */