SanityCheck: Trigger sanity check code on callbacks from the appropriate settings.

The only downside is that it needs to update on the TaskInfo object which means
since htat updates periodically this code runs more often that really needed since
the modules only start at first.  However, leaving that connection out means it
misses the initial set of modules.

flight/Libraries/sanitycheck.c

@@ -29,7 +29,6 @@
 #include "openpilot.h"
 #include <pios_board_info.h>
 #include "sanitycheck.h"
-#include "hwsettings.h"
 #include "taskinfo.h"
 #include "manualcontrolsettings.h"
 #include "systemalarms.h"

flight/Modules/System/systemmod.c

@@ -43,6 +43,7 @@
 #include "sanitycheck.h"
 #include "objectpersistence.h"
 #include "flightstatus.h"
+#include "manualcontrolsettings.h"
 #include "systemstats.h"
 #include "systemsettings.h"
 #include "i2cstats.h"
@@ -88,6 +89,7 @@ static bool mallocFailed;
 
 // Private functions
 static void objectUpdatedCb(UAVObjEvent * ev);
+static void configurationUpdatedCb(UAVObjEvent * ev);
 static void updateStats();
 static void updateSystemAlarms();
 static void systemTask(void *parameters);
@@ -168,14 +170,19 @@ static void systemTask(void *parameters)
 	// Listen for SettingPersistance object updates, connect a callback function
 	ObjectPersistenceConnectQueue(objectPersistenceQueue);
 
+	// Whenever the configuration changes, make sure it is safe to fly
+	SystemSettingsConnectCallback(configurationUpdatedCb);
+	ManualControlSettingsConnectCallback(configurationUpdatedCb);
+	TaskInfoConnectCallback(configurationUpdatedCb);
+
+	// Run this initially to make sure the configuration is checked
+	configuration_check();
+
 	// Main system loop
 	while (1) {
 		// Update the system statistics
 		updateStats();
 
-		// TODO: Make this only be called when configuration settings change
-		configuration_check();
-
 		// Update the system alarms
 		updateSystemAlarms();
 #if defined(I2C_WDG_STATS_DIAGNOSTICS)
@@ -307,6 +314,14 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 	}
 }
 
+/**
+ * Called whenever a critical configuration component changes
+ */
+static void configurationUpdatedCb(UAVObjEvent * ev)
+{
+	configuration_check();
+}
+
 /**
  * Called periodically to update the I2C statistics 
  */