From 893b7b5d462397ad0941a4c833f15edfbe0d34a9 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 6 Jul 2017 15:04:12 +0200
Subject: [PATCH] mavlink_command_sender: instantiate in initialize

---
 src/modules/mavlink/mavlink_command_sender.cpp | 13 ++++---------
 src/modules/mavlink/mavlink_command_sender.h   |  3 ---
 2 files changed, 4 insertions(+), 12 deletions(-)

diff --git a/src/modules/mavlink/mavlink_command_sender.cpp b/src/modules/mavlink/mavlink_command_sender.cpp
index 1c22dfe72b..fb6006fddc 100644
--- a/src/modules/mavlink/mavlink_command_sender.cpp
+++ b/src/modules/mavlink/mavlink_command_sender.cpp
@@ -42,25 +42,20 @@
 #include <px4_log.h>
 #include <cassert>
 
-bool MavlinkCommandSender::_init = false;
 MavlinkCommandSender *MavlinkCommandSender::_instance = nullptr;
 px4_sem_t MavlinkCommandSender::_lock;
 
 void MavlinkCommandSender::initialize()
 {
-	if (_init) {
-		return;
-	}
-
 	px4_sem_init(&_lock, 1, 1);
-	_init = true;
+
+	if (_instance == nullptr) {
+		_instance = new MavlinkCommandSender();
+	}
 }
 
 MavlinkCommandSender &MavlinkCommandSender::instance()
 {
-	if (_instance == nullptr) {
-		_instance = new MavlinkCommandSender();
-	}
 
 	return *_instance;
 }
diff --git a/src/modules/mavlink/mavlink_command_sender.h b/src/modules/mavlink/mavlink_command_sender.h
index 9f5cdd0cb8..8adc4542b0 100644
--- a/src/modules/mavlink/mavlink_command_sender.h
+++ b/src/modules/mavlink/mavlink_command_sender.h
@@ -98,10 +98,7 @@ private:
 		px4_sem_post(&_lock);
 	}
 
-
-	static bool _init;
 	static MavlinkCommandSender *_instance;
-
 	static px4_sem_t _lock;
 
 	// There are MAVLINK_COMM_0 to MAVLINK_COMM_3, so it should be 4.