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Code Issues Releases Activity

OP-1329 set SensorConnected to false when sensorType is changed to none.

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This commit is contained in:
Alessio Morale 2014-05-08 19:48:30 +02:00
parent 516f359645
commit 08dcdefc1f
1 changed files with 12 additions and 10 deletions
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22
flight/modules/Airspeed/airspeed.c
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@ -157,13 +157,11 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
if (airspeedSettings.AirspeedSensorType != lastAirspeedSensorType) {
AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_DEFAULT);
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
if (airspeedSettings.AirspeedSensorType == AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE) {
airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
AirspeedSensorSet(&airspeedData);
}
}
if(airspeedSettings.AirspeedSensorType == AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE){
// no need to check so often until a sensor is enabled
AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_DEFAULT);
vTaskDelay(5000/ portTICK_RATE_MS);
continue;
}
switch (airspeedSettings.AirspeedSensorType) {
#if defined(PIOS_INCLUDE_MPXV)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
@ -185,13 +183,17 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
break;
#endif
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
if(!gpsAirspeedInitialized){
gpsAirspeedInitialized = true;
gps_airspeedInitialize();
}
if (!gpsAirspeedInitialized) {
gpsAirspeedInitialized = true;
gps_airspeedInitialize();
}
gps_airspeedGet(&airspeedData, &airspeedSettings);
break;
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE:
// no need to check so often until a sensor is enabled
AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_DEFAULT);
vTaskDelay(2000 / portTICK_RATE_MS);
continue;
default:
airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
break;