AP_DDS: allow retries if init session or create fail

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
ArduPilot · Oct 11, 2023 · d5f172d · d5f172d
1 parent e252980
commit d5f172d
Showing 1 changed file with 7 additions and 6 deletions.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -622,13 +622,14 @@ void AP_DDS_Client::main_loop(void)
         // create session
         if (!init_session() || !create()) {
             GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "DDS Client: Creation Requests failed");
-            return;
-        }
-        connected = true;
-        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DDS Client: Initialization passed");
+            connected = false;
+        } else {
+            connected = true;
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DDS Client: Initialization passed");
 
-        populate_static_transforms(tx_static_transforms_topic);
-        write_static_transforms();
+            populate_static_transforms(tx_static_transforms_topic);
+            write_static_transforms();
+        }
 
         uint64_t last_ping_ms{0};
         uint8_t num_pings_missed{0};