AP_DroneCAN: Move blocking call to DroneCAN loop #32078
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andyp1per
requested changes
Feb 2, 2026
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| void AP_DroneCAN::loop(void) | ||
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| // Spin node for device discovery |
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I don't think you want to do this for all loops do you? Maybe while !_initialized?
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The actual loop is within the while(true) right? This is before that
andyp1per
approved these changes
Feb 3, 2026
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This saves us 5 seconds of boot time. This is currently a blocking call inside setup.
Has been lightly tested on the bench with a network of DroneCAN devices connected to CubeOrange to verify everything is normal. However, I need more input on any additional testing that is required.