rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-03-15 07:29:15 +01:00
Code Issues Releases Activity

Fix a possible race condition for complimentary filter on L3GD20 attitude

Browse Source 
estimation where the accel queue wouldn't immediately have data available.
Added 1 ms timeout on queue.
This commit is contained in:
James Cotton 2012-04-06 13:59:12 -05:00
parent e60c70251f
commit 345b6578b1
1 changed files with 4 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
flight/Modules/Attitude/revolution/attitude.c
View File

@ -248,12 +248,8 @@ static int32_t updateAttitudeComplimentary(bool first_run)
static uint8_t init = 0;
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if ( xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
{
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
return -1;
}
if ( xQueueReceive(accelQueue, &ev, 0) != pdTRUE )
if ( xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE ||
xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE )
{
// When one of these is updated so should the other
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
@ -493,8 +489,8 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
}
// Wait until the gyro and accel object is updated, if a timeout then go to failsafe
if ( (xQueueReceive(gyroQueue, &ev, 10 / portTICK_RATE_MS) != pdTRUE) ||
(xQueueReceive(accelQueue, &ev, 10 / portTICK_RATE_MS) != pdTRUE) )
if ( (xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) ||
(xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE) )
{
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
return -1;