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Code Issues Releases Activity

Flight/AHRSComms: Decrease stack size, not needed to be that big. Also made

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ActuatorDesired dT in ms like the uavobject indicates

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1839 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-02 02:17:32 +00:00 committed by peabody124
parent 6d39d85b8f
commit 29b087703b
3 changed files with 26 additions and 10 deletions
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5
flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
View File

@ -55,8 +55,8 @@
#include "ahrs_spi_comm.h"
// Private constants
#define STACK_SIZE 1400
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define STACK_SIZE configMINIMAL_STACK_SIZE-128
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
// Private types
@ -86,7 +86,6 @@ int32_t AHRSCommsInitialize(void)
static void ahrscommsTask(void *parameters)
{
portTickType lastSysTime;
AhrsStatusData data;
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL);

2
flight/OpenPilot/Modules/Stabilization/simple/Stabilization/stabilization.c
View File

@ -183,7 +183,7 @@ static void stabilizationTask(void* parameters)
actuatorDesired.Throttle = bound(attitudeDesired.Throttle, stabSettings.ThrottleMin, stabSettings.ThrottleMax);
// Save dT
actuatorDesired.UpdateTime = dT;
actuatorDesired.UpdateTime = dT * 1000;
// Write actuator desired (if not in manual mode)
if ( manualControl.FlightMode != MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )

29
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -10,6 +10,14 @@
65003B2D1212499100C183DD /* watchdog.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = watchdog.h; sourceTree = "<group>"; };
65003B2E1212499100C183DD /* watchdog.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = watchdog.c; sourceTree = "<group>"; };
65003B31121249CA00C183DD /* pios_wdg.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_wdg.c; sourceTree = "<group>"; };
651913371256C5240039C0A3 /* ahrs_comm_objects.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_comm_objects.c; sourceTree = "<group>"; };
651913381256C5240039C0A3 /* ahrs_spi_comm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_comm.c; sourceTree = "<group>"; };
651913391256C5240039C0A3 /* ahrs_spi_program_slave.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_program_slave.c; sourceTree = "<group>"; };
6519133A1256C52B0039C0A3 /* ahrs_comm_objects.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_comm_objects.h; sourceTree = "<group>"; };
6519133B1256C52B0039C0A3 /* ahrs_spi_comm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_comm.h; sourceTree = "<group>"; };
6519133C1256C52B0039C0A3 /* ahrs_spi_program_master.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_program_master.h; sourceTree = "<group>"; };
6519133D1256C52B0039C0A3 /* ahrs_spi_program_slave.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_program_slave.h; sourceTree = "<group>"; };
6519133E1256C52B0039C0A3 /* ahrs_spi_program.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_program.h; sourceTree = "<group>"; };
651CF9E5120B5D8300EEFD70 /* pios_usb_hid_desc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb_hid_desc.c; sourceTree = "<group>"; };
651CF9E6120B5D8300EEFD70 /* pios_usb_hid_istr.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb_hid_istr.c; sourceTree = "<group>"; };
651CF9E7120B5D8300EEFD70 /* pios_usb_hid_prop.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb_hid_prop.c; sourceTree = "<group>"; };
@ -34,8 +42,6 @@
655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = "<group>"; };
65632CBF124E09D900469B77 /* guidance.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = guidance.c; sourceTree = "<group>"; };
65632CC1124E09D900469B77 /* guidance.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = guidance.h; sourceTree = "<group>"; };
65632DF0125146E100469B77 /* actuator.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = actuator.c; sourceTree = "<group>"; };
65632DF2125146E100469B77 /* actuator.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = actuator.h; sourceTree = "<group>"; };
65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; };
65632DF61251650300469B77 /* STM32103CB_AHRS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_AHRS.h; sourceTree = "<group>"; };
65632DF71251650300469B77 /* STM3210E_OP.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM3210E_OP.h; sourceTree = "<group>"; };
@ -2583,7 +2589,6 @@
65B367FD121C2620003EAD18 /* systemstats.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = systemstats.xml; sourceTree = "<group>"; };
65B367FE121C2620003EAD18 /* telemetrysettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = telemetrysettings.xml; sourceTree = "<group>"; };
65B367FF121C2620003EAD18 /* src.pro */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = src.pro; sourceTree = "<group>"; };
65B7E6AD120DF1E2000C1123 /* ahrs_fsm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_fsm.c; path = ../../AHRS/ahrs_fsm.c; sourceTree = SOURCE_ROOT; };
65B7E6AE120DF1E2000C1123 /* ahrs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs.c; path = ../../AHRS/ahrs.c; sourceTree = SOURCE_ROOT; };
65B7E6B0120DF1E2000C1123 /* ahrs.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs.h; sourceTree = "<group>"; };
65B7E6B1120DF1E2000C1123 /* ahrs_fsm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_fsm.h; sourceTree = "<group>"; };
@ -2960,7 +2965,6 @@
65632DEF125146E100469B77 /* Actuator */ = {
isa = PBXGroup;
children = (
65632DF0125146E100469B77 /* actuator.c */,
65632DF1125146E100469B77 /* inc */,
);
path = Actuator;
@ -2969,7 +2973,6 @@
65632DF1125146E100469B77 /* inc */ = {
isa = PBXGroup;
children = (
65632DF2125146E100469B77 /* actuator.h */,
);
path = inc;
sourceTree = "<group>";
@ -3000,6 +3003,9 @@
657CEEB6121DBC63007A1FBE /* Libraries */ = {
isa = PBXGroup;
children = (
651913371256C5240039C0A3 /* ahrs_comm_objects.c */,
651913381256C5240039C0A3 /* ahrs_spi_comm.c */,
651913391256C5240039C0A3 /* ahrs_spi_program_slave.c */,
65C2595112249D9C0081B6ED /* buffer.c */,
657CEEB7121DBC63007A1FBE /* CoordinateConversions.c */,
657CEEB8121DBC63007A1FBE /* inc */,
@ -3012,6 +3018,11 @@
657CEEB8121DBC63007A1FBE /* inc */ = {
isa = PBXGroup;
children = (
6519133A1256C52B0039C0A3 /* ahrs_comm_objects.h */,
6519133B1256C52B0039C0A3 /* ahrs_spi_comm.h */,
6519133C1256C52B0039C0A3 /* ahrs_spi_program_master.h */,
6519133D1256C52B0039C0A3 /* ahrs_spi_program_slave.h */,
6519133E1256C52B0039C0A3 /* ahrs_spi_program.h */,
65C2595212249DA60081B6ED /* buffer.h */,
657CF024121F49CD007A1FBE /* WMMInternal.h */,
657CEEB9121DBC63007A1FBE /* CoordinateConversions.h */,
@ -6808,7 +6819,6 @@
65322D77122897210046CD7C /* MagOrAccelSensorCal.c */,
654330231218E9780063F913 /* insgps.c */,
65FC65BE123F209400B04F74 /* ahrs_adc.c */,
65B7E6AD120DF1E2000C1123 /* ahrs_fsm.c */,
65FC66AA123F30F100B04F74 /* ahrs_timer.c */,
65B7E6AE120DF1E2000C1123 /* ahrs.c */,
65B7E6AF120DF1E2000C1123 /* inc */,
@ -7708,7 +7718,14 @@
};
buildConfigurationList = 1DEB928908733DD80010E9CD /* Build configuration list for PBXProject "OpenPilotOSX" */;
compatibilityVersion = "Xcode 3.1";
developmentRegion = English;
hasScannedForEncodings = 1;
knownRegions = (
English,
Japanese,
French,
German,
);
mainGroup = 08FB7794FE84155DC02AAC07 /* OpenPilotOSX */;
projectDirPath = "";
projectRoot = ../../..;