From 04f54928d61735d44bfb1ad7ec0c5e5d2e12703d Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Thu, 3 Feb 2011 20:00:00 +0000
Subject: [PATCH] Modules/Guidance: Fix a bug Dale caught about not grabbing
 settings and also correct a typo when NedAccel.Down wasn't used.  Finally
 increase stack size of guidance task.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2718 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/Modules/Guidance/guidance.c | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/flight/Modules/Guidance/guidance.c b/flight/Modules/Guidance/guidance.c
index 9b3e24143..a9b2c36fd 100644
--- a/flight/Modules/Guidance/guidance.c
+++ b/flight/Modules/Guidance/guidance.c
@@ -61,7 +61,7 @@
 
 // Private constants
 #define MAX_QUEUE_SIZE 1
-#define STACK_SIZE_BYTES 824
+#define STACK_SIZE_BYTES 1024
 #define TASK_PRIORITY (tskIDLE_PRIORITY+2)
 // Private types
 
@@ -124,6 +124,7 @@ static void guidanceTask(void *parameters)
 	// Main task loop
 	lastUpdateTime = xTaskGetTickCount();
 	while (1) {
+		GuidanceSettingsGet(&guidanceSettings);
 
 		// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
 		if ( xQueueReceive(queue, &ev, guidanceSettings.UpdatePeriod / portTICK_RATE_MS) != pdTRUE )
@@ -171,7 +172,7 @@ static void guidanceTask(void *parameters)
 		// Convert from m/s to cm/s
 		accelData.North = accel[0] * 100;
 		accelData.East = accel[1] * 100;
-		accelData.North = accel[2] * 100;
+		accelData.Down = accel[2] * 100;
 		NedAccelSet(&accelData);