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muorb: A couple of minor tweaks to make initialization reliable

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Eric Katzfey 2026-02-19 10:38:30 -07:00 committed by Eric Katzfey
parent 2ef5b0a20f
commit 7daac63809
1 changed files with 5 additions and 2 deletions
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7
src/modules/muorb/slpi/uORBProtobufChannel.cpp
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@ -115,6 +115,9 @@ void uORB::ProtobufChannel::keepalive_thread_func(void *ptr)
{
PX4_INFO("muorb keepalive thread running");
// Give the system time to initialize before monitoring keepalives
px4_sleep(4);
// Delete any keepalive fail file that may exist from a previous error
struct stat buffer;
@ -400,10 +403,10 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
uORB::Manager::get_instance()->set_uorb_communicator(
uORB::ProtobufChannel::GetInstance());
px4::WorkQueueManagerStart();
param_init();
px4::WorkQueueManagerStart();
uORB::ProtobufChannel::GetInstance()->RegisterSendHandler(slpi_send_aggregated_topics);
// Configure the I2C driver function pointers