rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-02 10:24:11 +01:00
Code Issues Releases Activity

TxPID: initialize the AccessoryDesired object before use its handle

Browse Source 
Also save few bytes of static RAM and add PIOS_Assert(0) for unhandled cases.
This commit is contained in:
Oleg Semyonov 2011-12-24 15:37:14 +02:00
parent de6e450b5f
commit 495a8f2836
1 changed files with 11 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
flight/Modules/TxPID/txpid.c
View File

@ -87,8 +87,6 @@ static float scale(float val, float inMin, float inMax, float outMin, float outM
*/
int32_t TxPIDInitialize(void)
{
static UAVObjEvent ev;
bool txPIDEnabled;
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
@ -101,12 +99,16 @@ int32_t TxPIDInitialize(void)
txPIDEnabled = false;
if (txPIDEnabled) {
ev.obj = AccessoryDesiredHandle();
ev.instId = 0;
ev.event = 0;
// Initialize settings object
TxPIDSettingsInitialize();
AccessoryDesiredInitialize();
UAVObjEvent ev = {
.obj = AccessoryDesiredHandle(),
.instId = 0,
.event = 0,
};
EventPeriodicCallbackCreate(&ev, updatePIDs, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
#if (TELEMETRY_UPDATE_PERIOD_MS != 0)
// Change StabilizationSettings update rate from OnChange to periodic
@ -116,6 +118,7 @@ int32_t TxPIDInitialize(void)
// StabilizationSettings update rate permanently. Use Metadata via
// browser to reset to defaults (telemetryAcked=true, OnChange).
UAVObjMetadata metadata;
StabilizationSettingsInitialize();
StabilizationSettingsGetMetadata(&metadata);
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
@ -123,9 +126,6 @@ int32_t TxPIDInitialize(void)
StabilizationSettingsSetMetadata(&metadata);
#endif
// Setup the callback function
EventPeriodicCallbackCreate(&ev, updatePIDs, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
return 0;
}
@ -249,6 +249,8 @@ static void updatePIDs(UAVObjEvent* ev)
case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KI], value);
break;
default:
PIOS_Assert(0);
}
}
}