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AP_Vehicle: split off start() method in DDS 

this allows for an DDS_ENABLED parameter
This commit is contained in:
arshPratap 2023-04-24 15:13:32 +10:00 committed by Andrew Tridgell
parent a35bf1c373
commit aa25461bbe
1 changed files with 6 additions and 5 deletions
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11
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -126,9 +126,9 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
#endif
#if AP_DDS_ENABLED
// @Group: XRCE
// @Group: DDS
// @Path: ../AP_DDS/AP_DDS_Client.cpp
AP_SUBGROUPPTR(dds_client, "XRCE_", 18, AP_Vehicle, AP_DDS_Client),
AP_SUBGROUPPTR(dds_client, "DDS", 18, AP_Vehicle, AP_DDS_Client),
#endif
#if AP_KDECAN_ENABLED
@ -843,10 +843,11 @@ void AP_Vehicle::check_motor_noise()
#if AP_DDS_ENABLED
bool AP_Vehicle::init_dds_client()
{
if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_DDS_XRCE, 0)) {
dds_client = new AP_DDS_Client();
dds_client = new AP_DDS_Client();
if (dds_client == nullptr) {
return false;
}
return dds_client != nullptr;
return dds_client->start();
}
#endif // AP_DDS_ENABLED