From ce73be514e0add0356c120c19e43f6818af236ad Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sat, 23 Aug 2014 23:30:49 +0400
Subject: [PATCH] UAVCAN: Proper CDev initialization from sensor bridges

---
 src/modules/uavcan/sensors/baro.cpp | 7 ++++++-
 src/modules/uavcan/sensors/mag.cpp  | 7 ++++++-
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/modules/uavcan/sensors/baro.cpp b/src/modules/uavcan/sensors/baro.cpp
index ef4f0dbbab..80c5e3828e 100644
--- a/src/modules/uavcan/sensors/baro.cpp
+++ b/src/modules/uavcan/sensors/baro.cpp
@@ -53,7 +53,12 @@ _sub_air_data(node)
 
 int UavcanBarometerBridge::init()
 {
-	int res = _sub_air_data.start(AirDataCbBinder(this, &UavcanBarometerBridge::air_data_sub_cb));
+	int res = device::CDev::init();
+	if (res < 0) {
+		return res;
+	}
+
+	res = _sub_air_data.start(AirDataCbBinder(this, &UavcanBarometerBridge::air_data_sub_cb));
 	if (res < 0) {
 		log("failed to start uavcan sub: %d", res);
 		return res;
diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp
index aaa3a44632..8e6a9a22f0 100644
--- a/src/modules/uavcan/sensors/mag.cpp
+++ b/src/modules/uavcan/sensors/mag.cpp
@@ -56,7 +56,12 @@ _sub_mag(node)
 
 int UavcanMagnetometerBridge::init()
 {
-	int res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
+	int res = device::CDev::init();
+	if (res < 0) {
+		return res;
+	}
+
+	res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
 	if (res < 0) {
 		log("failed to start uavcan sub: %d", res);
 		return res;