From 9ad85e9b7bc7c23a416c9dbd2f931533d902607a Mon Sep 17 00:00:00 2001
From: Corvus Corax <corvuscorax@cybertrench.com>
Date: Fri, 19 Aug 2011 13:20:15 +0200
Subject: [PATCH] Fixed modules that didn't initialize used UAVObjects
 correctly

---
 flight/Modules/FlightPlan/flightplan.c       |  4 ++++
 flight/Modules/Guidance/guidance.c           | 15 +++++++++++++++
 flight/Modules/ManualControl/manualcontrol.c |  8 ++++++--
 flight/Modules/Stabilization/stabilization.c |  2 ++
 4 files changed, 27 insertions(+), 2 deletions(-)

diff --git a/flight/Modules/FlightPlan/flightplan.c b/flight/Modules/FlightPlan/flightplan.c
index 5537c8f15..e983d6445 100644
--- a/flight/Modules/FlightPlan/flightplan.c
+++ b/flight/Modules/FlightPlan/flightplan.c
@@ -73,7 +73,11 @@ int32_t FlightPlanStart()
  */
 int32_t FlightPlanInitialize()
 {
+	// Initialize variables
 	taskHandle = NULL;
+	FlightPlanStatusInitialize();
+	FlightPlanControlInitialize();
+	FlightPlanSettingsInitialize();
 
 	// Listen for object updates
 	FlightPlanControlConnectCallback(&objectUpdatedCb);
diff --git a/flight/Modules/Guidance/guidance.c b/flight/Modules/Guidance/guidance.c
index 348210675..14e293579 100644
--- a/flight/Modules/Guidance/guidance.c
+++ b/flight/Modules/Guidance/guidance.c
@@ -97,6 +97,21 @@ int32_t GuidanceStart()
  */
 int32_t GuidanceInitialize()
 {
+	//initialize variables
+	GuidanceSettingsInitialize();
+	AttitudeRawInitialize();
+	AttitudeActualInitialize();
+	PositionDesiredInitialize();
+	PositionActualInitialize();
+	ManualControlCommandInitialize();
+	FlightStatusInitialize();
+	NedAccelInitialize();
+	StabilizationDesiredInitialize();
+	StabilizationSettingsInitialize();
+	SystemSettingsInitialize();
+	VelocityDesiredInitialize();
+	VelocityActualInitialize();
+
 	// Create object queue
 	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
 	
diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index bdd9f6b34..7767d57d8 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -112,10 +112,14 @@ int32_t ManualControlInitialize()
 	if(!assumptions)
 		return -1;
 
-	AccessoryDesiredInitialize();
+	ManualControlSettingsInitialize();
+	StabilizationSettingsInitialize();
 	ManualControlCommandInitialize();
-	FlightStatusInitialize();
+	ActuatorDesiredInitialize();
 	StabilizationDesiredInitialize();
+	FlightTelemetryStatsInitialize();
+	FlightStatusInitialize();
+	AccessoryDesiredInitialize();
 
 	// ManualControlSettingsInitialize(); // this is initialized in
 	// pios_board.c
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 7142c9770..74175b86c 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -115,6 +115,8 @@ int32_t StabilizationInitialize()
 	// Initialize variables
 	StabilizationSettingsInitialize();
 	ActuatorDesiredInitialize();
+	AttitudeActualInitialize();
+	AttitudeRawInitialize();
 #if defined(DIAGNOSTICS)
 	RateDesiredInitialize();
 #endif