From 99b7aa8579d8a0a962c46c7653197d3a481aabcb Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Wed, 23 Jul 2014 03:17:11 +0400
Subject: [PATCH] Properly handling the initial node status broadcast in
 passive mode

---
 libuavcan/src/protocol/uc_node_status_provider.cpp | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/libuavcan/src/protocol/uc_node_status_provider.cpp b/libuavcan/src/protocol/uc_node_status_provider.cpp
index 5a35c03c9b..c886bdc669 100644
--- a/libuavcan/src/protocol/uc_node_status_provider.cpp
+++ b/libuavcan/src/protocol/uc_node_status_provider.cpp
@@ -69,10 +69,15 @@ int NodeStatusProvider::startAndPublish()
         return -ErrNotInited;
     }
 
-    int res = publish(); // Initial broadcast
-    if (res < 0)
+    int res = -1;
+
+    if (!getNode().isPassiveMode())
     {
-        goto fail;
+        res = publish();
+        if (res < 0)  // Initial broadcast
+        {
+            goto fail;
+        }
     }
 
     res = gdr_sub_.start(GlobalDiscoveryRequestCallback(this, &NodeStatusProvider::handleGlobalDiscoveryRequest));