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Code Issues Releases Activity

When guidance finds an incorrect airframe, delay 100ms to avoid hammering the

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alarms
This commit is contained in:
James Cotton 2012-05-07 12:52:34 -05:00
parent dedbbec8f0
commit 6aa7142f5e
1 changed files with 13 additions and 11 deletions
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24
flight/Modules/Guidance/guidance.c
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@ -149,6 +149,19 @@ static void guidanceTask(void *parameters)
// Main task loop // Main task loop
lastUpdateTime = xTaskGetTickCount(); lastUpdateTime = xTaskGetTickCount();
while (1) { while (1) {
SystemSettingsGet(&systemSettings);
if ( (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_VTOL) &&
(systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_QUADP) &&
(systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_QUADX) &&
(systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXA) &&
(systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX) )
{
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_WARNING);
vTaskDelay(1000);
continue;
}
GuidanceSettingsGet(&guidanceSettings); GuidanceSettingsGet(&guidanceSettings);
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe // Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
@ -168,19 +181,8 @@ static void guidanceTask(void *parameters)
updateNedAccel(); updateNedAccel();
FlightStatusGet(&flightStatus); FlightStatusGet(&flightStatus);
SystemSettingsGet(&systemSettings);
GuidanceSettingsGet(&guidanceSettings); GuidanceSettingsGet(&guidanceSettings);
if ( (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_VTOL) &&
(systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_QUADP) &&
(systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_QUADX) &&
(systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXA) &&
(systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX) )
{
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_WARNING);
continue;
}
switch(flightStatus.FlightMode) { switch(flightStatus.FlightMode) {
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD: case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
updateVtolDesiredVelocity(); updateVtolDesiredVelocity();