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Code Issues Releases Activity

Stabilization: Bugfix: moved queue initialisation to TaskStart where it belongs

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This commit is contained in:
Corvus Corax 2012-05-22 22:19:31 +02:00
parent 7f334a9773
commit 64c1ac3bd6
1 changed files with 9 additions and 11 deletions
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20
flight/Modules/Stabilization/stabilization.c
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@ -99,6 +99,15 @@ static void SettingsUpdatedCb(UAVObjEvent * ev);
int32_t StabilizationStart() int32_t StabilizationStart()
{ {
// Initialize variables // Initialize variables
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for updates.
// AttitudeActualConnectQueue(queue);
GyrosConnectQueue(queue);
StabilizationSettingsConnectCallback(SettingsUpdatedCb);
SettingsUpdatedCb(StabilizationSettingsHandle());
// Start main task // Start main task
xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
@ -119,17 +128,6 @@ int32_t StabilizationInitialize()
RateDesiredInitialize(); RateDesiredInitialize();
#endif #endif
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for updates.
// AttitudeActualConnectQueue(queue);
GyrosConnectQueue(queue);
StabilizationSettingsConnectCallback(SettingsUpdatedCb);
SettingsUpdatedCb(StabilizationSettingsHandle());
// Start main task
return 0; return 0;
} }