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Code Issues Releases Activity

Change how the updated settings in attitude are changed to make it easier to

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initialize them all
This commit is contained in:
James Cotton 2012-07-21 14:31:14 -05:00
parent 3f4706ad4c
commit 02dfa7bd82
1 changed files with 11 additions and 15 deletions
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24
flight/Modules/Attitude/revolution/attitude.c
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@ -203,10 +203,7 @@ static void AttitudeTask(void *parameters)
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE); AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
// Force settings update to make sure rotation loaded // Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle()); settingsUpdatedCb(NULL);
settingsUpdatedCb(RevoSettingsHandle());
settingsUpdatedCb(RevoCalibrationHandle());
settingsUpdatedCb(HomeLocationHandle());
// Wait for all the sensors be to read // Wait for all the sensors be to read
vTaskDelay(100); vTaskDelay(100);
@ -857,16 +854,15 @@ static int32_t getNED(GPSPositionData * gpsPosition, float * NED)
static void settingsUpdatedCb(UAVObjEvent * ev) static void settingsUpdatedCb(UAVObjEvent * ev)
{ {
// If the object updated was the ObjectPersistence execute requested action if (ev == NULL || ev->obj == RevoCalibrationHandle()) {
if (ev->obj == RevoCalibrationHandle()) {
RevoCalibrationGet(&revoCalibration); RevoCalibrationGet(&revoCalibration);
/* When the revo calibration is updated, update the GyroBias object */ /* When the revo calibration is updated, update the GyroBias object */
GyrosBiasData gyrosBias; GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias); GyrosBiasGet(&gyrosBias);
gyrosBias.x = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_X]; gyrosBias.x = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_X];
gyrosBias.y = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_X]; gyrosBias.y = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_Y];
gyrosBias.z = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_X]; gyrosBias.z = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_Z];
GyrosBiasSet(&gyrosBias); GyrosBiasSet(&gyrosBias);
gyroBiasSettingsUpdated = true; gyroBiasSettingsUpdated = true;
@ -876,9 +872,9 @@ static void settingsUpdatedCb(UAVObjEvent * ev)
INSSetAccelVar(revoCalibration.accel_var); INSSetAccelVar(revoCalibration.accel_var);
INSSetGyroVar(revoCalibration.gyro_var); INSSetGyroVar(revoCalibration.gyro_var);
INSSetBaroVar(revoCalibration.baro_var); INSSetBaroVar(revoCalibration.baro_var);
} else if (ev->obj == HomeLocationHandle()) { }
if(ev == NULL || ev->obj == HomeLocationHandle()) {
HomeLocationGet(&homeLocation); HomeLocationGet(&homeLocation);
// Compute matrix to convert deltaLLA to NED // Compute matrix to convert deltaLLA to NED
float lat, alt; float lat, alt;
lat = homeLocation.Latitude / 10.0e6f * DEG2RAD; lat = homeLocation.Latitude / 10.0e6f * DEG2RAD;
@ -887,11 +883,11 @@ static void settingsUpdatedCb(UAVObjEvent * ev)
T[0] = alt+6.378137E6f; T[0] = alt+6.378137E6f;
T[1] = cosf(lat)*(alt+6.378137E6f); T[1] = cosf(lat)*(alt+6.378137E6f);
T[2] = -1.0f; T[2] = -1.0f;
} else if (ev->obj == AttitudeSettingsHandle()) {
AttitudeSettingsGet(&attitudeSettings);
} else if (ev->obj == RevoSettingsHandle()) {
RevoSettingsGet(&revoSettings);
} }
if (ev == NULL || ev->obj == AttitudeSettingsHandle())
AttitudeSettingsGet(&attitudeSettings);
if (ev == NULL || ev->obj == RevoSettingsHandle())
RevoSettingsGet(&revoSettings);
} }
/** /**
* @} * @}