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SITL: allow calling of init multiple times

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... to allow for esp32 using existing init call and HAL_ChibiOS making the call very early
This commit is contained in:
Peter Barker 2025-12-10 13:38:47 +11:00 committed by Peter Barker
parent 095877c9ba
commit 456cdadb82
1 changed files with 6 additions and 0 deletions
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6
libraries/SITL/SITL.h
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@ -127,6 +127,11 @@ public:
static SIM *get_singleton() { return _singleton; } static SIM *get_singleton() { return _singleton; }
void init() { void init() {
if (init_done) {
return;
}
init_done = true;
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
AP_Param::setup_object_defaults(this, var_info2); AP_Param::setup_object_defaults(this, var_info2);
AP_Param::setup_object_defaults(this, var_info3); AP_Param::setup_object_defaults(this, var_info3);
@ -149,6 +154,7 @@ public:
mag_ofs[i].set(Vector3f(5, 13, -18)); mag_ofs[i].set(Vector3f(5, 13, -18));
} }
} }
bool init_done;
enum SITL_RCFail { enum SITL_RCFail {
SITL_RCFail_None = 0, SITL_RCFail_None = 0,