From d38dfcfcd3d39435d4a6cb689593d183731216fc Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 20 Aug 2019 10:28:09 -0400
Subject: [PATCH] uORB::Subscription fix initialization but not yet published
 case

 - otherwise uORB::Subscription will erroneously report published after the first successful initialization of an unpublished topic
---
 src/modules/uORB/Subscription.hpp | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/src/modules/uORB/Subscription.hpp b/src/modules/uORB/Subscription.hpp
index 2f3a26b379..47f87112c9 100644
--- a/src/modules/uORB/Subscription.hpp
+++ b/src/modules/uORB/Subscription.hpp
@@ -75,7 +75,22 @@ public:
 	void unsubscribe();
 
 	bool valid() const { return _node != nullptr; }
-	bool published() { return valid() ? _node->is_published() : init(); }
+	bool published()
+	{
+		if (valid()) {
+			return _node->is_published();
+		}
+
+		// try to initialize
+		if (init()) {
+			// check again if valid
+			if (valid()) {
+				return _node->is_published();
+			}
+		}
+
+		return false;
+	}
 
 	/**
 	 * Check if there is a new update.