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Code Issues Releases Activity

OP-1235 allow for live update of altitude estimation settings

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This commit is contained in:
Alessio Morale 2014-02-22 21:24:27 +01:00
parent bc3636bbd6
commit a2386f548b
1 changed files with 15 additions and 1 deletions
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16
flight/modules/StateEstimation/filteraltitude.c
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@ -44,6 +44,7 @@
#define DT_MIN 1e-6f #define DT_MIN 1e-6f
#define DT_MAX 1.0f #define DT_MAX 1.0f
#define DT_AVERAGE 1e-3f #define DT_AVERAGE 1e-3f
static volatile bool reloadSettings;
// Private types // Private types
struct data { struct data {
@ -68,6 +69,7 @@ struct data {
static int32_t init(stateFilter *self); static int32_t init(stateFilter *self);
static int32_t filter(stateFilter *self, stateEstimation *state); static int32_t filter(stateFilter *self, stateEstimation *state);
static void settingsUpdatedCb(UAVObjEvent *ev);
int32_t filterAltitudeInitialize(stateFilter *handle) int32_t filterAltitudeInitialize(stateFilter *handle)
@ -77,6 +79,8 @@ int32_t filterAltitudeInitialize(stateFilter *handle)
handle->localdata = pvPortMalloc(sizeof(struct data)); handle->localdata = pvPortMalloc(sizeof(struct data));
AttitudeStateInitialize(); AttitudeStateInitialize();
AltitudeFilterSettingsInitialize(); AltitudeFilterSettingsInitialize();
AltitudeFilterSettingsConnectCallback(&settingsUpdatedCb);
reloadSettings = true;
return STACK_REQUIRED; return STACK_REQUIRED;
} }
@ -99,7 +103,6 @@ static int32_t init(stateFilter *self)
this->baroLast = 0.0f; this->baroLast = 0.0f;
this->accelLast = 0.0f; this->accelLast = 0.0f;
this->first_run = 1; this->first_run = 1;
AltitudeFilterSettingsGet(&this->settings);
return 0; return 0;
} }
@ -107,6 +110,11 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
{ {
struct data *this = (struct data *)self->localdata; struct data *this = (struct data *)self->localdata;
if (reloadSettings) {
reloadSettings = false;
AltitudeFilterSettingsGet(&this->settings);
}
if (this->first_run) { if (this->first_run) {
// Initialize to current altitude reading at initial location // Initialize to current altitude reading at initial location
if (IS_SET(state->updated, SENSORUPDATES_baro)) { if (IS_SET(state->updated, SENSORUPDATES_baro)) {
@ -187,6 +195,12 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
return 0; return 0;
} }
void settingsUpdatedCb(UAVObjEvent *ev)
{
if (ev->obj == AltitudeFilterSettingsHandle()) {
reloadSettings = true;
}
}
/** /**
* @} * @}