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Code Issues Releases Activity

LP-401 Add sanity check for FlightModeSettings to bring up reboot-required alarm if flightmode has autotune, but no autotune modules started.

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Vladimir Zidar 2016-09-06 11:54:06 +02:00 committed by Vladimir Zidar
parent a8f09d277e
commit 4e427f69db
1 changed files with 17 additions and 0 deletions
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17
flight/modules/AutoTune/autotune.c
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@ -159,6 +159,19 @@ static void UpdateSystemIdentState(const float *X, const float *noise, float dT_
static void UpdateStabilizationDesired(bool doingIdent);
static void flightModeSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
FlightModeSettingsFlightModePositionOptions fms[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
FlightModeSettingsFlightModePositionGet(fms);
for (uint8_t i = 0; i < FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM; ++i) {
if (fms[i] == FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTUNE) {
ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
break;
}
}
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
@ -202,6 +215,10 @@ int32_t AutoTuneInitialize(void)
}
}
if (!moduleEnabled) {
FlightModeSettingsConnectCallback(flightModeSettingsUpdatedCb);
}
return 0;
}