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Code Issues Releases Activity

AeroSimRC: do not update sensor and/or attitude data if read-only flag is set

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This commit is contained in:
Oleg Semyonov 2012-05-07 17:35:37 +03:00 committed by Oleg Semyonov
parent a3906aa7ea
commit 910b465ac6
1 changed files with 11 additions and 11 deletions
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22
flight/Modules/Attitude/attitude.c
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@ -234,17 +234,21 @@ static void AttitudeTask(void *parameters)
AccelsData accels;
GyrosData gyros;
int32_t retval;
if(cc3d)
int32_t retval = 0;
if (cc3d)
retval = updateSensorsCC3D(&accels, &gyros);
else
retval = updateSensors(&accels, &gyros);
if(retval != 0)
// Only update attitude when sensor data is good
if (retval != 0)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
else {
// Only update attitude when sensor data is good
updateAttitude(&accels, &gyros);
// Do not update attitude data in simulation mode
if (!AttitudeActualReadOnly())
updateAttitude(&accels, &gyros);
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
}
}
@ -268,8 +272,8 @@ static int32_t updateSensors(AccelsData * accels, GyrosData * gyros)
return -1;
}
// for simulation
if (AttitudeRawReadOnly() == ACCESS_READONLY)
// Do not read raw sensor data in simulation mode
if (GyrosReadOnly() || AccelsReadOnly())
return 0;
// No accel data available
@ -420,10 +424,6 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
{
// for simulation
if (AttitudeActualReadOnly() == ACCESS_READONLY)
return;
float dT;
portTickType thisSysTime = xTaskGetTickCount();
static portTickType lastSysTime = 0;