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Code Issues Releases Activity

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

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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
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3
.gitmodules vendored Normal file
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@ -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