Start initializing objects in the modules that consume them. Shouldn't affect

OP yet but not tested.

flight/CopterControl/Makefile

@@ -65,7 +65,9 @@ endif
 FLASH_TOOL = OPENOCD
 
 # List of modules to include
-MODULES = Telemetry Attitude Stabilization Actuator ManualControl FirmwareIAP
+MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP 
+# Telemetry must be last to grab the optional modules
+MODULES += Telemetry
 
 # Paths
 OPSYSTEM = ./System

flight/CopterControl/System/pios_board.c

@@ -694,7 +694,6 @@ void PIOS_Board_Init(void) {
 	/* Initialize UAVObject libraries */
 	EventDispatcherInitialize();
 	UAVObjInitialize();
-	UAVObjectsInitializeAll();
 
 	/* Initialize the alarms library */
 	AlarmsInitialize();

flight/Modules/AHRSComms/ahrs_comms.c

@@ -72,6 +72,10 @@ static void ahrscommsTask(void *parameters);
 int32_t AHRSCommsInitialize(void)
 {
 	// Start main task
+	AHRSStatusInitialize();
+	AHRSCalibrationInitialize();
+	AttitudeRawInitialize();
+	
 	xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
 	TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
 	PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS);

flight/Modules/Actuator/actuator.c

@@ -95,6 +95,13 @@ int32_t ActuatorInitialize()
 	// Create object queue
 	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
 
+	ActuatorSettingsInitialize();
+	ActuatorDesiredInitialize();
+	MixerSettingsInitialize();
+#if defined(DIAGNOSTICS)
+	MixerStatusInitialize();
+#endif
+
 	// Listen for ExampleObject1 updates
 	ActuatorDesiredConnectQueue(queue);
 	

flight/Modules/Altitude/altitude.c

@@ -68,6 +68,12 @@ static void altitudeTask(void *parameters);
  */
 int32_t AltitudeInitialize()
 {
+	
+	BaroAltitudeInitialize();
+#if defined(PIOS_INCLUDE_HCSR04)
+	SonarAltitudeInitialze();
+#endif
+	
 	// Start main task
 	xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
 	TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);

flight/Modules/Attitude/attitude.c

@@ -96,6 +96,10 @@ static bool zero_during_arming = false;
  */
 int32_t AttitudeInitialize(void)
 {
+	AttitudeActualInitialize();
+	AttitudeRawInitialize();
+	AttitudeSettingsInitialize();
+
 	// Initialize quaternion
 	AttitudeActualData attitude;
 	AttitudeActualGet(&attitude);

flight/Modules/Battery/battery.c

@@ -77,6 +77,9 @@ static void onTimer(UAVObjEvent* ev);
  */
 int32_t BatteryInitialize(void)
 {
+	BatteryStateInitialze();
+	BatterySettingsInitialize();
+	
 	static UAVObjEvent ev;
 
 	memset(&ev,0,sizeof(UAVObjEvent));

flight/Modules/FirmwareIAP/firmwareiap.c

@@ -91,6 +91,9 @@ static void resetTask(UAVObjEvent *);
 
 int32_t FirmwareIAPInitialize()
 {
+	
+	FirmwareIAPObjInitialize();
+	
 	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 
 	data.BoardType= bdinfo->board_type;

flight/Modules/GPS/GPS.c

@@ -111,6 +111,10 @@ static uint32_t numParsingErrors;
 
 int32_t GPSInitialize(void)
 {
+	GPSPositionInitialize();
+	GPSTimeInitialize();
+	HomeLocationInitialize();
+	
 	signed portBASE_TYPE xReturn;
 
 	// TODO: Get gps settings object

flight/Modules/ManualControl/manualcontrol.c

@@ -149,6 +149,13 @@ int32_t ManualControlInitialize()
 	/* Check the assumptions about uavobject enum's are correct */
 	if(!assumptions) 
 		return -1;
+	
+	AccessoryDesiredInitialize();
+	ManualControlSettingsInitialize();
+	ManualControlCommandInitialize();
+	FlightStatusInitialize();
+	StabilizationDesiredInitialize();
+	
 	// Start main task
 	xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
 	TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);

flight/Modules/Stabilization/stabilization.c

@@ -40,8 +40,6 @@
 #include "attitudeactual.h"
 #include "attituderaw.h"
 #include "flightstatus.h"
-#include "systemsettings.h"
-#include "ahrssettings.h"
 #include "manualcontrol.h" // Just to get a macro
 #include "CoordinateConversions.h"
 
@@ -92,6 +90,11 @@ static void SettingsUpdatedCb(UAVObjEvent * ev);
 int32_t StabilizationInitialize()
 {
 	// Initialize variables
+	StabilizationSettingsInitialize();
+	ActuatorDesiredInitialize();
+#if defined(DIAGNOSTICS)
+	RateDesiredInitialize();
+#endif
 
 	// Create object queue
 	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
@@ -125,7 +128,6 @@ static void stabilizationTask(void* parameters)
 	RateDesiredData rateDesired;
 	AttitudeActualData attitudeActual;
 	AttitudeRawData attitudeRaw;
-	SystemSettingsData systemSettings;
 	FlightStatusData flightStatus;
 	
 	SettingsUpdatedCb((UAVObjEvent *) NULL);
@@ -153,7 +155,6 @@ static void stabilizationTask(void* parameters)
 		StabilizationDesiredGet(&stabDesired);
 		AttitudeActualGet(&attitudeActual);
 		AttitudeRawGet(&attitudeRaw);
-		SystemSettingsGet(&systemSettings);
 
 #if defined(DIAGNOSTICS)
 		RateDesiredGet(&rateDesired);

flight/Modules/System/systemmod.c

@@ -43,7 +43,9 @@
 #include "objectpersistence.h"
 #include "flightstatus.h"
 #include "systemstats.h"
+#include "systemsettings.h"
 #include "i2cstats.h"
+#include "taskinfo.h"
 #include "watchdogstatus.h"
 #include "taskmonitor.h"
 #include "pios_config.h"
@@ -78,11 +80,12 @@ static int32_t stackOverflow;
 // Private functions
 static void objectUpdatedCb(UAVObjEvent * ev);
 static void updateStats();
-static void updateI2Cstats();
-static void updateWDGstats();
 static void updateSystemAlarms();
 static void systemTask(void *parameters);
-
+#if defined(DIAGNOSTICS)
+static void updateI2Cstats();
+static void updateWDGstats();
+#endif
 /**
  * Initialise the module, called on startup.
  * \returns 0 on success or -1 if initialisation failed
@@ -106,6 +109,16 @@ static void systemTask(void *parameters)
 	// System initialization
 	OpenPilotInit();
 
+	// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
+	SystemSettingsInitialize();
+	SystemStatsInitialize();
+	ObjectPersistenceInitialize();
+#if defined(DIAGNOSTICS)
+	TaskInfoInitialize();
+	I2CStatsInitialize();
+	WatchdogStatusInitialize();
+#endif
+
 	// Register task
 	TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
 
@@ -124,9 +137,10 @@ static void systemTask(void *parameters)
 
 		// Update the system alarms
 		updateSystemAlarms();
+#if defined(DIAGNOSTICS)
 		updateI2Cstats();
 		updateWDGstats();
-		
+#endif
 		// Update the task status object
 		TaskMonitorUpdateAll();
 
@@ -228,9 +242,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 /**
  * Called periodically to update the I2C statistics 
  */
-#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
+#if defined(DIAGNOSTICS)
-static void updateI2Cstats() {} //Posix and win32 don't have I2C
-#else
 static void updateI2Cstats() 
 {
 #if defined(PIOS_INCLUDE_I2C)
@@ -250,7 +262,6 @@ static void updateI2Cstats()
 	I2CStatsSet(&i2cStats);
 #endif
 }
-#endif
 
 static void updateWDGstats() 
 {
@@ -259,6 +270,8 @@ static void updateWDGstats()
 	watchdogStatus.ActiveFlags = PIOS_WDG_GetActiveFlags();
 	WatchdogStatusSet(&watchdogStatus);
 }
+#endif
+
 
 /**
  * Called periodically to update the system stats

flight/Modules/Telemetry/telemetry.c

@@ -89,6 +89,10 @@ int32_t TelemetryInitialize(void)
 {
 	UAVObjEvent ev;
 
+	FlightTelemetryStatsInitialize();
+	GCSTelemetryStatsInitialize();
+	TelemetrySettingsInitialize();
+
 	// Initialize vars
 	timeOfLastObjectUpdate = 0;
 

flight/OpenPilot/System/alarms.c

@@ -45,10 +45,8 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
  */
 int32_t AlarmsInitialize(void)
 {
+	SystemAlarmsInitialize();
 	lock = xSemaphoreCreateRecursiveMutex();
-	//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
-	//AlarmsClearAll();
-	//AlarmsDefaultAll();
 	return 0;
 }
 

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -2677,7 +2677,6 @@
 		65C35E7912EFB2F3004811C2 /* watchdogstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = watchdogstatus.xml; sourceTree = "<group>"; };
 		65C35E9E12F0A834004811C2 /* uavobjecttemplate.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjecttemplate.c; sourceTree = "<group>"; };
 		65C35E9F12F0A834004811C2 /* uavobjectsinittemplate.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinittemplate.c; sourceTree = "<group>"; };
-		65C35EA012F0A834004811C2 /* uavobjectsinit_cc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinit_cc.c; sourceTree = "<group>"; };
 		65C35EA112F0A834004811C2 /* uavobjectmanager.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectmanager.c; sourceTree = "<group>"; };
 		65C35EA312F0A834004811C2 /* eventdispatcher.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = eventdispatcher.h; sourceTree = "<group>"; };
 		65C35EA412F0A834004811C2 /* uavobjectmanager.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = uavobjectmanager.h; sourceTree = "<group>"; };
@@ -2689,6 +2688,7 @@
 		65C35F6812F0DC2D004811C2 /* attitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitude.h; sourceTree = "<group>"; };
 		65C9903C13A871B90082BD60 /* camerastab.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = camerastab.c; sourceTree = "<group>"; };
 		65C9903E13A871B90082BD60 /* camerastab.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = camerastab.h; sourceTree = "<group>"; };
+		65C9908E13AC5D8D0082BD60 /* uavobjectsinit_linker.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinit_linker.c; sourceTree = "<group>"; };
 		65D2CA841248F9A400B1E7D6 /* mixersettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixersettings.xml; sourceTree = "<group>"; };
 		65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = "<group>"; };
 		65E410AE12F65AEA00725888 /* attitudesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudesettings.xml; sourceTree = "<group>"; };
@@ -3515,9 +3515,9 @@
 		650D8E6A12DFE17500D05CC9 /* UAVObjects */ = {
 			isa = PBXGroup;
 			children = (
+				65C9908E13AC5D8D0082BD60 /* uavobjectsinit_linker.c */,
 				65C35E9E12F0A834004811C2 /* uavobjecttemplate.c */,
 				65C35E9F12F0A834004811C2 /* uavobjectsinittemplate.c */,
-				65C35EA012F0A834004811C2 /* uavobjectsinit_cc.c */,
 				65C35EA112F0A834004811C2 /* uavobjectmanager.c */,
 				65C35EA212F0A834004811C2 /* inc */,
 				65C35EA812F0A834004811C2 /* eventdispatcher.c */,