From 495a8f28360ad190c1f293d01cef304f5bd8893f Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sat, 24 Dec 2011 15:37:14 +0200
Subject: [PATCH] TxPID: initialize the AccessoryDesired object before use its
 handle

Also save few bytes of static RAM and add PIOS_Assert(0) for unhandled cases.
---
 flight/Modules/TxPID/txpid.c | 20 +++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

diff --git a/flight/Modules/TxPID/txpid.c b/flight/Modules/TxPID/txpid.c
index 28898208d..b3e8377a2 100644
--- a/flight/Modules/TxPID/txpid.c
+++ b/flight/Modules/TxPID/txpid.c
@@ -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);
 			}
 		}
 	}