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Qurt MUORB Communication (#20584)

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This commit is contained in:
Zachary Lowell
2022-11-10 13:10:18 -06:00
committed by GitHub
parent 6b9d86680b
commit b6ab7f159f
6 changed files with 644 additions and 44 deletions
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src/modules/muorb/apps/muorb_main.cpp
+5 -1
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@@ -33,6 +33,7 @@
#include <string.h>
#include "uORBAppsProtobufChannel.hpp"
#include "uORB/uORBManager.hpp"
extern "C" { __EXPORT int muorb_main(int argc, char *argv[]); }
@@ -56,7 +57,10 @@ muorb_main(int argc, char *argv[])
// Register the protobuf channel with UORB.
uORB::AppsProtobufChannel *channel = uORB::AppsProtobufChannel::GetInstance();
if (channel && channel->Initialize(enable_debug)) { return OK; }
if (channel && channel->Initialize(enable_debug)) {
uORB::Manager::get_instance()->set_uorb_communicator(channel);
return OK;
}
} else if (!strcmp(argv[1], "test")) {
uORB::AppsProtobufChannel *channel = uORB::AppsProtobufChannel::GetInstance();