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Code Issues Releases Activity

Initialize objects for guidance in the correct place. Init some objects in

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pios_board_posix since AHRSComms not around.
This commit is contained in:
James Cotton 2011-08-19 09:52:05 -05:00
parent ced29e221e
commit ab7e57ad2b
5 changed files with 28 additions and 7 deletions
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11
flight/Modules/AHRSComms/ahrs_comms.c
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@ -73,11 +73,7 @@ static void ahrscommsTask(void *parameters);
*/ */
int32_t AHRSCommsStart(void) int32_t AHRSCommsStart(void)
{ {
// Start main task // Start main task
AhrsStatusInitialize();
AHRSCalibrationInitialize();
AttitudeRawInitialize();
xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle); xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle); TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS); PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS);
@ -91,6 +87,11 @@ int32_t AHRSCommsStart(void)
*/ */
int32_t AHRSCommsInitialize(void) int32_t AHRSCommsInitialize(void)
{ {
AhrsStatusInitialize();
AHRSCalibrationInitialize();
AttitudeRawInitialize();
VelocityActualInitialize();
PositionActualInitialize();
return 0; return 0;
} }

6
flight/Modules/FlightPlan/flightplan.c
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@ -74,7 +74,11 @@ int32_t FlightPlanStart()
int32_t FlightPlanInitialize() int32_t FlightPlanInitialize()
{ {
taskHandle = NULL; taskHandle = NULL;
FlightPlanStatusInitialize();
FlightPlanControlInitialize();
FlightPlanSettingsInitialize();
// Listen for object updates // Listen for object updates
FlightPlanControlConnectCallback(&objectUpdatedCb); FlightPlanControlConnectCallback(&objectUpdatedCb);

2
flight/Modules/GPS/GPS.c
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@ -127,7 +127,7 @@ int32_t GPSInitialize(void)
GPSPositionInitialize(); GPSPositionInitialize();
GPSTimeInitialize(); GPSTimeInitialize();
HomeLocationInitialize(); HomeLocationInitialize();
// TODO: Get gps settings object // TODO: Get gps settings object
gpsPort = PIOS_COM_GPS; gpsPort = PIOS_COM_GPS;

8
flight/Modules/Guidance/guidance.c
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@ -97,6 +97,14 @@ int32_t GuidanceStart()
*/ */
int32_t GuidanceInitialize() int32_t GuidanceInitialize()
{ {
GuidanceSettingsInitialize();
PositionDesiredInitialize();
ManualControlCommandInitialize();
FlightStatusInitialize();
NedAccelInitialize();
VelocityDesiredInitialize();
// Create object queue // Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent)); queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));

8
flight/OpenPilot/System/pios_board_posix.c
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@ -29,6 +29,10 @@
#include <openpilot.h> #include <openpilot.h>
#include <uavobjectsinit.h> #include <uavobjectsinit.h>
#include "attituderaw.h"
#include "positionactual.h"
#include "velocityactual.h"
#include "pios_rcvr_priv.h" #include "pios_rcvr_priv.h"
struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS]; 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 /* PIOS_INCLUDE_GPS */
#endif #endif
// Initialize these here as posix has no AHRSComms
AttitudeRawInitialize();
VelocityActualInitialize();
PositionActualInitialize();
} }