From 35509ee977411c112ea82f149fabe051419c91c5 Mon Sep 17 00:00:00 2001
From: Corvus Corax <corvuscorax@cybertrench.com>
Date: Mon, 12 Nov 2012 10:03:30 +0100
Subject: [PATCH] moved sanitycheck from system to manualcontrol to not break
 OSD and PipX targets

Conflicts:

	flight/Modules/ManualControl/manualcontrol.c
---
 flight/Modules/ManualControl/manualcontrol.c | 23 ++++++++++++++++++++
 flight/Modules/System/systemmod.c            | 16 --------------
 2 files changed, 23 insertions(+), 16 deletions(-)

diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index 2c7a68575..f696162f1 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -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();
+}
+
+
+
 /**
   * @}
   * @}
diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c
index 8f5193c14..638af30ed 100644
--- a/flight/Modules/System/systemmod.c
+++ b/flight/Modules/System/systemmod.c
@@ -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
  */