From f143628e80c9fbc33d3a5c3587019cfd5f568c62 Mon Sep 17 00:00:00 2001
From: vassilis <vassilis>
Date: Thu, 20 May 2010 01:21:44 +0000
Subject: [PATCH] Flight/Altitude Update altitude object with new metafields,
 modified update rates in XML and flight s/w

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@645 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/OpenPilot/Modules/Altitude/altitude.c |  6 ++----
 flight/OpenPilot/UAVObjects/altitudeactual.c | 10 ++++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/flight/OpenPilot/Modules/Altitude/altitude.c b/flight/OpenPilot/Modules/Altitude/altitude.c
index 6e9b7c878..222a03fd2 100644
--- a/flight/OpenPilot/Modules/Altitude/altitude.c
+++ b/flight/OpenPilot/Modules/Altitude/altitude.c
@@ -37,6 +37,7 @@
 // Private constants
 #define STACK_SIZE configMINIMAL_STACK_SIZE
 #define TASK_PRIORITY (tskIDLE_PRIORITY+3)
+#define UPDATE_PERIOD 100
 
 // Private types
 
@@ -72,9 +73,6 @@ static void altitudeTask(void* parameters)
 	lastSysTime = xTaskGetTickCount();
 	while (1)
 	{
-		// Get the object data
-		AltitudeActualGet(&data);
-
 		// Update the temperature data
 		PIOS_BMP085_StartADC(TemperatureConv);
 #if 0
@@ -104,6 +102,6 @@ static void altitudeTask(void* parameters)
 		AltitudeActualSet(&data);
 
 		// Delay until it is time to read the next sample
-		vTaskDelayUntil(&lastSysTime, 1000 / portTICK_RATE_MS );
+		vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS );
 	}
 }
diff --git a/flight/OpenPilot/UAVObjects/altitudeactual.c b/flight/OpenPilot/UAVObjects/altitudeactual.c
index 43e9e93b7..d7b2529d9 100644
--- a/flight/OpenPilot/UAVObjects/altitudeactual.c
+++ b/flight/OpenPilot/UAVObjects/altitudeactual.c
@@ -77,12 +77,14 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
 	UAVObjSetInstanceData(obj, instId, &data);
 
 	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
 	metadata.telemetryAcked = 1;
-	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
-	metadata.telemetryUpdatePeriod = 0;
+	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.telemetryUpdatePeriod = 1000;
 	metadata.gcsTelemetryAcked = 1;
-	metadata.gcsTelemetryUpdateMode = UPDATEMODE_PERIODIC;
-	metadata.gcsTelemetryUpdatePeriod = 200;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
+	metadata.gcsTelemetryUpdatePeriod = 0;
 	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
 	metadata.loggingUpdatePeriod = 0;
 	UAVObjSetMetadata(obj, &metadata);