From ab7e57ad2b4f65dc125911ffa9572af127113c62 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 19 Aug 2011 09:52:05 -0500
Subject: [PATCH] Initialize objects for guidance in the correct place.  Init
 some objects in pios_board_posix since AHRSComms not around.

---
 flight/Modules/AHRSComms/ahrs_comms.c      | 11 ++++++-----
 flight/Modules/FlightPlan/flightplan.c     |  6 +++++-
 flight/Modules/GPS/GPS.c                   |  2 +-
 flight/Modules/Guidance/guidance.c         |  8 ++++++++
 flight/OpenPilot/System/pios_board_posix.c |  8 ++++++++
 5 files changed, 28 insertions(+), 7 deletions(-)

diff --git a/flight/Modules/AHRSComms/ahrs_comms.c b/flight/Modules/AHRSComms/ahrs_comms.c
index b2afc17cc..c3fb45fae 100644
--- a/flight/Modules/AHRSComms/ahrs_comms.c
+++ b/flight/Modules/AHRSComms/ahrs_comms.c
@@ -73,11 +73,7 @@ static void ahrscommsTask(void *parameters);
  */
 int32_t AHRSCommsStart(void)
 {
-	// Start main task
-	AhrsStatusInitialize();
-	AHRSCalibrationInitialize();
-	AttitudeRawInitialize();
-	
+	// Start main task	
 	xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
 	TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
 	PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS);
@@ -91,6 +87,11 @@ int32_t AHRSCommsStart(void)
  */
 int32_t AHRSCommsInitialize(void)
 {
+	AhrsStatusInitialize();
+	AHRSCalibrationInitialize();
+	AttitudeRawInitialize();
+	VelocityActualInitialize();
+	PositionActualInitialize();
 
 	return 0;
 }
diff --git a/flight/Modules/FlightPlan/flightplan.c b/flight/Modules/FlightPlan/flightplan.c
index 5537c8f15..e919dd41e 100644
--- a/flight/Modules/FlightPlan/flightplan.c
+++ b/flight/Modules/FlightPlan/flightplan.c
@@ -74,7 +74,11 @@ int32_t FlightPlanStart()
 int32_t FlightPlanInitialize()
 {
 	taskHandle = NULL;
-
+	
+	FlightPlanStatusInitialize();
+	FlightPlanControlInitialize();
+	FlightPlanSettingsInitialize();
+	
 	// Listen for object updates
 	FlightPlanControlConnectCallback(&objectUpdatedCb);
 
diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c
index c08964342..60ff80184 100644
--- a/flight/Modules/GPS/GPS.c
+++ b/flight/Modules/GPS/GPS.c
@@ -127,7 +127,7 @@ int32_t GPSInitialize(void)
 	GPSPositionInitialize();
 	GPSTimeInitialize();
 	HomeLocationInitialize();
-
+	
 	// TODO: Get gps settings object
 	gpsPort = PIOS_COM_GPS;
 
diff --git a/flight/Modules/Guidance/guidance.c b/flight/Modules/Guidance/guidance.c
index 348210675..d1626923c 100644
--- a/flight/Modules/Guidance/guidance.c
+++ b/flight/Modules/Guidance/guidance.c
@@ -97,6 +97,14 @@ int32_t GuidanceStart()
  */
 int32_t GuidanceInitialize()
 {
+
+	GuidanceSettingsInitialize();
+	PositionDesiredInitialize();
+	ManualControlCommandInitialize();
+	FlightStatusInitialize();
+	NedAccelInitialize();
+	VelocityDesiredInitialize();
+
 	// Create object queue
 	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
 	
diff --git a/flight/OpenPilot/System/pios_board_posix.c b/flight/OpenPilot/System/pios_board_posix.c
index fa2cec9de..2285533aa 100644
--- a/flight/OpenPilot/System/pios_board_posix.c
+++ b/flight/OpenPilot/System/pios_board_posix.c
@@ -29,6 +29,10 @@
 #include <openpilot.h>
 #include <uavobjectsinit.h>
 
+#include "attituderaw.h"
+#include "positionactual.h"
+#include "velocityactual.h"
+
 #include "pios_rcvr_priv.h"
 
 struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
@@ -171,6 +175,10 @@ void PIOS_Board_Init(void) {
 #endif	/* PIOS_INCLUDE_GPS */
 #endif
 
+	// Initialize these here as posix has no AHRSComms
+	AttitudeRawInitialize();
+	VelocityActualInitialize();
+	PositionActualInitialize();
 
 }