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Code Issues Releases Activity

Eliminated attitude sensor timeout warnings when in simulation mode.

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This commit is contained in:
Kenz Dale 2012-07-23 16:09:47 +02:00
parent aa5e5a9b01
commit a77a012586
1 changed files with 12 additions and 7 deletions
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19
flight/Modules/Attitude/revolution/attitude.c
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@ -262,11 +262,13 @@ static int32_t updateAttitudeComplementary(bool first_run)
// 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
if ( xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE || if ( xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE ||
xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE ) xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE ) // When one of these is updated so should the other
{ {
// When one of these is updated so should the other // Do not set attitude timeout warnings in simulation mode
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING); if (!AttitudeActualReadOnly()){
return -1; AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
return -1;
}
} }
AccelsGet(&accelsData); AccelsGet(&accelsData);
@ -527,10 +529,13 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
// Wait until the gyro and accel object is updated, if a timeout then go to failsafe // Wait until the gyro and accel object is updated, if a timeout then go to failsafe
if ( (xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) || if ( (xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) ||
(xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE) ) (xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE) )
{ {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING); // Do not set attitude timeout warnings in simulation mode
return -1; if (!AttitudeActualReadOnly()){
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
return -1;
}
} }
if (inited) { if (inited) {