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Code Issues Releases Activity

moved sanitycheck from system to manualcontrol to not break OSD and PipX

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targets

Conflicts:

	flight/Modules/ManualControl/manualcontrol.c
This commit is contained in:
Corvus Corax 2012-11-12 10:03:30 +01:00
parent 40381d98ae
commit 35509ee977
2 changed files with 23 additions and 16 deletions
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23
flight/Modules/ManualControl/manualcontrol.c
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@ -34,6 +34,7 @@
*/
#include "openpilot.h"
#include "sanitycheck.h"
#include "manualcontrol.h"
#include "manualcontrolsettings.h"
#include "stabilizationsettings.h"
@ -47,6 +48,7 @@
#include "altitudeholddesired.h"
#include "positionactual.h"
#include "baroaltitude.h"
#include "systemsettings.h"
#if defined(PIOS_INCLUDE_USB_RCTX)
#include "pios_usb_rctx.h"
@ -89,6 +91,7 @@ static void altitudeHoldDesired(ManualControlCommandData * cmd);
static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void setArmedIfChanged(uint8_t val);
static void configurationUpdatedCb(UAVObjEvent * ev);
static void manualControlTask(void *parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
@ -163,6 +166,15 @@ static void manualControlTask(void *parameters)
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance();
// Run this initially to make sure the configuration is checked
configuration_check();
// Whenever the configuration changes, make sure it is safe to fly
SystemSettingsConnectCallback(configurationUpdatedCb);
ManualControlSettingsConnectCallback(configurationUpdatedCb);
// Whenever the configuration changes, make sure it is safe to fly
// Make sure unarmed on power up
ManualControlCommandGet(&cmd);
FlightStatusGet(&flightStatus);
@ -924,6 +936,17 @@ static void applyDeadband(float *value, float deadband)
*value += deadband;
}
/**
* Called whenever a critical configuration component changes
*/
static void configurationUpdatedCb(UAVObjEvent * ev)
{
configuration_check();
}
/**
* @}
* @}

16
flight/Modules/System/systemmod.c
View File

@ -40,10 +40,8 @@
#include "openpilot.h"
#include "systemmod.h"
#include "sanitycheck.h"
#include "objectpersistence.h"
#include "flightstatus.h"
#include "manualcontrolsettings.h"
#include "systemstats.h"
#include "systemsettings.h"
#include "i2cstats.h"
@ -90,7 +88,6 @@ static bool mallocFailed;
// Private functions
static void objectUpdatedCb(UAVObjEvent * ev);
static void configurationUpdatedCb(UAVObjEvent * ev);
static void hwSettingsUpdatedCb(UAVObjEvent * ev);
static void updateStats();
static void updateSystemAlarms();
@ -174,12 +171,7 @@ static void systemTask(void *parameters)
// Listen for SettingPersistance object updates, connect a callback function
ObjectPersistenceConnectQueue(objectPersistenceQueue);
// Run this initially to make sure the configuration is checked
configuration_check();
// Whenever the configuration changes, make sure it is safe to fly
SystemSettingsConnectCallback(configurationUpdatedCb);
ManualControlSettingsConnectCallback(configurationUpdatedCb);
HwSettingsConnectCallback(hwSettingsUpdatedCb);
// Main system loop
@ -320,14 +312,6 @@ static void objectUpdatedCb(UAVObjEvent * ev)
}
}
/**
* Called whenever a critical configuration component changes
*/
static void configurationUpdatedCb(UAVObjEvent * ev)
{
configuration_check();
}
/**
* Called whenever hardware settings changed
*/