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Added special muorb startup ordering in px4_init for posix platform

This commit is contained in:
Eric Katzfey 2024-02-20 15:59:07 -08:00
parent aee187c164
commit c2113cdac8
1 changed files with 19 additions and 0 deletions
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19
platforms/posix/src/px4/common/px4_init.cpp
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@ -40,15 +40,34 @@
#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp> #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
#include <uORB/uORB.h> #include <uORB/uORB.h>
#if defined(CONFIG_MODULES_MUORB_APPS)
extern "C" { int muorb_init(); }
#endif
int px4_platform_init(void) int px4_platform_init(void)
{ {
hrt_init(); hrt_init();
px4::WorkQueueManagerStart(); px4::WorkQueueManagerStart();
// MUORB has slightly different startup requirements
#if defined(CONFIG_MODULES_MUORB_APPS)
//Put sleeper in here to allow wq to finish initializing before param_init is called
usleep(10000);
uorb_start();
muorb_init();
// Give muorb some time to setup the DSP
usleep(100000);
param_init();
#else
param_init(); param_init();
uorb_start(); uorb_start();
#endif
px4_log_initialize(); px4_log_initialize();