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AP_Vehicle: make init_vehicle() public

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and protect against double call.

This is needed for the call from AP_BoardConfig
This commit is contained in:
Andrew Tridgell 2019-12-30 10:54:45 +11:00
parent 5c342c3dab
commit 9d8821f3d7
2 changed files with 10 additions and 4 deletions
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7
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -40,7 +40,12 @@ void AP_Vehicle::get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, ui
}
// initialize the vehicle
void AP_Vehicle::init_vehicle() {
void AP_Vehicle::init_vehicle()
{
if (init_done) {
return;
}
init_done = true;
#if HAL_RUNCAM_ENABLED
runcam.init();
#endif

7
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -112,6 +112,9 @@ public:
void get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks);
// initialize the vehicle. Called from AP_BoardConfig
void init_vehicle();
protected:
// board specific config
@ -153,15 +156,13 @@ protected:
AP_AHRS_DCM ahrs;
#endif
// initialize the vehicle
void init_vehicle();
static const struct AP_Param::GroupInfo var_info[];
static const struct AP_Scheduler::Task scheduler_tasks[];
private:
static AP_Vehicle *_singleton;
bool init_done;
};