From 08fde4f505a8ae085fb49572add2028331dc8998 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Fri, 21 Aug 2015 20:19:02 +0300
Subject: [PATCH] UAVCAN startup delay fix

---
 ROMFS/px4fmu_common/init.d/rc.uavcan | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan
index 3615c177de..37e6893bd1 100644
--- a/ROMFS/px4fmu_common/init.d/rc.uavcan
+++ b/ROMFS/px4fmu_common/init.d/rc.uavcan
@@ -44,6 +44,9 @@ then
 	fi
 fi
 
-# First sensor publisher to initialize takes lowest instance ID
-# This delay ensures that UAVCAN-interfaced sensors will be allocated on lowest instance IDs
-sleep 8
+if [ $UAVCAN_ENABLE -ge 1 ]
+then
+	# First sensor publisher to initialize takes lowest instance ID
+	# This delay ensures that UAVCAN-interfaced sensors will be allocated on lowest instance IDs
+	sleep 8
+fi