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Code Issues Releases Activity

Flight/Stabilization: Need to either set or clear the alarm, but the way it was

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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
This commit is contained in:
peabody124 2010-11-23 17:13:42 +00:00 committed by peabody124
parent fadb00860a
commit d2b468d661
2 changed files with 10 additions and 8 deletions
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4
flight/OpenPilot/Modules/Actuator/actuator.c
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@ -141,6 +141,8 @@ static void actuatorTask(void* parameters)
lastSysTime = xTaskGetTickCount(); lastSysTime = xTaskGetTickCount();
while (1) while (1)
{ {
actuator_updated = 1;
// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe // Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE ) if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
{ {
@ -148,8 +150,6 @@ static void actuatorTask(void* parameters)
continue; continue;
} }
actuator_updated = 1;
// Check how long since last update // Check how long since last update
thisSysTime = xTaskGetTickCount(); thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound if(thisSysTime > lastSysTime) // reuse dt in case of wraparound

6
flight/OpenPilot/Modules/Stabilization/stabilization.c
View File

@ -127,14 +127,16 @@ static void stabilizationTask(void* parameters)
lastSysTime = xTaskGetTickCount(); lastSysTime = xTaskGetTickCount();
ZeroPids(); ZeroPids();
while(1) { while(1) {
stabilization_updated = 1;
// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe // Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE ) if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
{ {
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING); AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
continue;
} }
stabilization_updated = 1;
// Check how long since last update // Check how long since last update
thisSysTime = xTaskGetTickCount(); thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound if(thisSysTime > lastSysTime) // reuse dt in case of wraparound