From 60e7cc11ce67880a5734f94802aaf0583294f7e5 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 20 Aug 2022 10:43:11 -0400
Subject: [PATCH] WIP: microdds_start if installed

---
 ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps | 3 ++-
 ROMFS/px4fmu_common/init.d-posix/rcS         | 6 ++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps b/ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps
index d3cfa4f817..3f185ed5fe 100644
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps
@@ -1,4 +1,5 @@
 #!/bin/sh
 # shellcheck disable=SC2154
 
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+#micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+microdds_client start -t udp -p 15555
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 324cb06327..e952d7e959 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -228,6 +228,12 @@ commander start
 
 navigator start
 
+# Try to start the microdds_client with UDP transport if module exists
+if px4-microdds_client status > /dev/null 2>&1
+then
+	microdds_client start -t udp -p 15555
+fi
+
 # Try to start the micrortps_client with UDP transport if module exists
 if px4-micrortps_client status > /dev/null 2>&1
 then