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Initialize objects for guidance in the correct place. Init some objects in
pios_board_posix since AHRSComms not around.
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@ -73,11 +73,7 @@ static void ahrscommsTask(void *parameters);
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*/
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int32_t AHRSCommsStart(void)
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{
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// Start main task
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AhrsStatusInitialize();
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AHRSCalibrationInitialize();
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AttitudeRawInitialize();
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// Start main task
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xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
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PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS);
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@ -91,6 +87,11 @@ int32_t AHRSCommsStart(void)
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*/
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int32_t AHRSCommsInitialize(void)
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{
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AhrsStatusInitialize();
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AHRSCalibrationInitialize();
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AttitudeRawInitialize();
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VelocityActualInitialize();
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PositionActualInitialize();
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return 0;
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}
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@ -74,7 +74,11 @@ int32_t FlightPlanStart()
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int32_t FlightPlanInitialize()
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{
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taskHandle = NULL;
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FlightPlanStatusInitialize();
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FlightPlanControlInitialize();
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FlightPlanSettingsInitialize();
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// Listen for object updates
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FlightPlanControlConnectCallback(&objectUpdatedCb);
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@ -127,7 +127,7 @@ int32_t GPSInitialize(void)
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GPSPositionInitialize();
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GPSTimeInitialize();
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HomeLocationInitialize();
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// TODO: Get gps settings object
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gpsPort = PIOS_COM_GPS;
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@ -97,6 +97,14 @@ int32_t GuidanceStart()
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*/
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int32_t GuidanceInitialize()
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{
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GuidanceSettingsInitialize();
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PositionDesiredInitialize();
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ManualControlCommandInitialize();
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FlightStatusInitialize();
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NedAccelInitialize();
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VelocityDesiredInitialize();
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// Create object queue
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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@ -29,6 +29,10 @@
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#include <openpilot.h>
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#include <uavobjectsinit.h>
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#include "attituderaw.h"
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#include "positionactual.h"
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#include "velocityactual.h"
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#include "pios_rcvr_priv.h"
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struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
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@ -171,6 +175,10 @@ void PIOS_Board_Init(void) {
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#endif /* PIOS_INCLUDE_GPS */
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#endif
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// Initialize these here as posix has no AHRSComms
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AttitudeRawInitialize();
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VelocityActualInitialize();
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PositionActualInitialize();
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}
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