rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-18 03:52:11 +01:00
Code Issues Releases Activity

In the attitude loop need to check all the queues even if unused or the event

Browse Source 
system will have warnings
This commit is contained in:
James Cotton 2012-02-07 08:46:34 -06:00
parent 3bb571a1a7
commit 02bec750bd
3 changed files with 20 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
.gitmodules vendored Normal file
View File

@ -0,0 +1,3 @@
[submodule "overo"]
path = overo
url = git@github.com:peabody124/op_overo.git

17
flight/Modules/Attitude/revolution/attitude.c
View File

@ -234,6 +234,12 @@ static int32_t updateAttitudeComplimentary(bool first_run)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
return -1;
}
if ( xQueueReceive(accelQueue, &ev, 0) != pdTRUE )
{
// When one of these is updated so should the other
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
return -1;
}
// During initialization and
FlightStatusData flightStatus;
@ -290,7 +296,8 @@ static int32_t updateAttitudeComplimentary(bool first_run)
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
if (1) {
if ( xQueueReceive(magQueue, &ev, 0) != pdTRUE )
{
// Rotate gravity to body frame and cross with accels
float brot[3];
float Rbe[3][3];
@ -378,6 +385,14 @@ static int32_t updateAttitudeComplimentary(bool first_run)
AttitudeActualSet(&attitudeActual);
// Flush these queues for avoid errors
if ( xQueueReceive(baroQueue, &ev, 0) != pdTRUE )
{
}
if ( xQueueReceive(gpsQueue, &ev, 0) != pdTRUE )
{
}
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
return 0;

1
overo Submodule

@ -0,0 +1 @@
Subproject commit 76d03ac32f28cd26fa76be2a9b8af489e3b872fc