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Code Issues Releases Activity

Modules/Guidance: Fix a bug Dale caught about not grabbing settings and also

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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
This commit is contained in:
peabody124 2011-02-03 20:00:00 +00:00 committed by peabody124
parent 768bdbba44
commit 04f54928d6
1 changed files with 3 additions and 2 deletions
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5
flight/Modules/Guidance/guidance.c
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@ -61,7 +61,7 @@
// Private constants // Private constants
#define MAX_QUEUE_SIZE 1 #define MAX_QUEUE_SIZE 1
#define STACK_SIZE_BYTES 824 #define STACK_SIZE_BYTES 1024
#define TASK_PRIORITY (tskIDLE_PRIORITY+2) #define TASK_PRIORITY (tskIDLE_PRIORITY+2)
// Private types // Private types
@ -124,6 +124,7 @@ static void guidanceTask(void *parameters)
// Main task loop // Main task loop
lastUpdateTime = xTaskGetTickCount(); lastUpdateTime = xTaskGetTickCount();
while (1) { while (1) {
GuidanceSettingsGet(&guidanceSettings);
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe // Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if ( xQueueReceive(queue, &ev, guidanceSettings.UpdatePeriod / portTICK_RATE_MS) != pdTRUE ) 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 // Convert from m/s to cm/s
accelData.North = accel[0] * 100; accelData.North = accel[0] * 100;
accelData.East = accel[1] * 100; accelData.East = accel[1] * 100;
accelData.North = accel[2] * 100; accelData.Down = accel[2] * 100;
NedAccelSet(&accelData); NedAccelSet(&accelData);