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Code Issues Releases Activity

Flight/System: Double heart rate when system is armed. This is per request in

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IRC, but suggestions are welcome.  In the long run we probably need a sensible
way of embedding some information in the LED but it's not obvious to me.  Also
could have done with callback - sue me. ;)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1997 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-20 05:31:24 +00:00 committed by peabody124
parent cd04845c3d
commit 098b2fd693
1 changed files with 9 additions and 1 deletions
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10
flight/OpenPilot/Modules/System/systemmod.c
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@ -41,6 +41,7 @@
#include "openpilot.h"
#include "systemmod.h"
#include "objectpersistence.h"
#include "manualcontrolcommand.h"
#include "systemstats.h"
// Private constants
@ -119,8 +120,15 @@ static void systemTask(void *parameters)
PIOS_LED_Off(LED2);
}
ManualControlCommandData manualControlCommandData;
ManualControlCommandGet(&manualControlCommandData);
// Wait until next period
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
if(manualControlCommandData.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE) {
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / 2);
} else {
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}
}