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Code Issues Releases Activity

OP-1329 Various fixes to airspeed:

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- Prevent Airspeed module with Sensor=none from constantly running and updating AirspeedSensor
- Do not call gps_airspeedInitialize if not needed
This commit is contained in:
Alessio Morale 2014-05-07 20:11:24 +02:00
parent 3f5f77d878
commit 7645209809
1 changed files with 11 additions and 5 deletions
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16
flight/modules/Airspeed/airspeed.c
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@ -137,17 +137,14 @@ MODULE_INITCALL(AirspeedInitialize, AirspeedStart);
static void airspeedTask(__attribute__((unused)) void *parameters)
{
AirspeedSettingsUpdatedCb(AirspeedSettingsHandle());
bool gpsAirspeedInitialized = false;
AirspeedSensorData airspeedData;
AirspeedSensorGet(&airspeedData);
AirspeedSettingsUpdatedCb(NULL);
gps_airspeedInitialize();
airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
// Main task loop
portTickType lastSysTime = xTaskGetTickCount();
while (1) {
@ -161,7 +158,12 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_DEFAULT);
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
}
if(airspeedSettings.AirspeedSensorType == AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE){
// no need to check so often until a sensor is enabled
AirspeedAlarm(SYSTEMALARMS_ALARM_DEFAULT);
vTaskDelay(5000/ portTICK_RATE_MS);
continue;
}
switch (airspeedSettings.AirspeedSensorType) {
#if defined(PIOS_INCLUDE_MPXV)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
@ -183,6 +185,10 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
break;
#endif
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
if(!gpsAirspeedInitialized){
gpsAirspeedInitialized = true;
gps_airspeedInitialize();
}
gps_airspeedGet(&airspeedData, &airspeedSettings);
break;
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE: