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Flight/Stabilization: Need to either set or clear the alarm, but the way it was
before cleared at the end of each loop - including one after an alarm Flight/Actuator: Similar change to make sure not having updates from stabilization (i.e. no AHRS) doesn't trigger a watchdog reset git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2140 ebee16cc-31ac-478f-84a7-5cbb03baadba
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@ -140,15 +140,15 @@ static void actuatorTask(void* parameters)
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1)
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{
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{
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actuator_updated = 1;
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// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
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if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
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{
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setFailsafe();
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continue;
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}
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actuator_updated = 1;
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// Check how long since last update
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thisSysTime = xTaskGetTickCount();
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@ -127,14 +127,16 @@ static void stabilizationTask(void* parameters)
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lastSysTime = xTaskGetTickCount();
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ZeroPids();
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while(1) {
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stabilization_updated = 1;
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// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
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if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
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{
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AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
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}
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continue;
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}
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stabilization_updated = 1;
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// Check how long since last update
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thisSysTime = xTaskGetTickCount();
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if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
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@ -222,9 +224,9 @@ static void stabilizationTask(void* parameters)
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{
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ZeroPids();
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}
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// Clear alarms
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AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
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AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
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}
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}
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