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AP_Mount: initialize backends after all mounts were added

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olliw42 2021-08-24 17:05:18 +02:00 committed by Andrew Tridgell
parent 88f2f7ccae
commit af634f0421
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_Mount/AP_Mount.cpp
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@ -470,13 +470,19 @@ void AP_Mount::init()
// init new instance // init new instance
if (_backends[instance] != nullptr) { if (_backends[instance] != nullptr) {
_backends[instance]->init();
if (!primary_set) { if (!primary_set) {
_primary = instance; _primary = instance;
primary_set = true; primary_set = true;
} }
} }
} }
// init each instance, do it after all instances were created, so that they all know things
for (uint8_t instance=0; instance<AP_MOUNT_MAX_INSTANCES; instance++) {
if (_backends[instance] != nullptr) {
_backends[instance]->init();
}
}
} }
// update - give mount opportunity to update servos. should be called at 10hz or higher // update - give mount opportunity to update servos. should be called at 10hz or higher