/**
* Initialize the module, called on startup.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModInitialize(void)
{
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
SystemSettingsInitialize();
SystemStatsInitialize();
FlightStatusInitialize();
//ObjectPersistenceInitialize(); moved to pios board due to different bootstraping
#if defined(DIAG_TASKS)
TaskInfoInitialize();
#endif
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
I2CStatsInitialize();
WatchdogStatusInitialize();
#endif
//objectPersistenceQueue = xQueueCreate(1, sizeof(UAVObjEvent));
//if (objectPersistenceQueue == NULL)
// return -1;
/* Edited for raspberry pilot, the systemodstart is not automatically called
* it is called just after MODULE_INITIALISE_ALL in initTask(), but the system
* waits for objectpersitance (over uavlink) to load all the settings
*/
//SystemModStart();
return 0;
}
/**
* Initialize the module, called on startup.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModInitialize(void)
{
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
SystemSettingsInitialize();
SystemStatsInitialize();
ObjectPersistenceInitialize();
#if defined(DIAGNOSTICS)
TaskInfoInitialize();
I2CStatsInitialize();
WatchdogStatusInitialize();
#endif
SystemModStart();
return 0;
}
/**
* Module initialization
*/
int32_t ManualControlInitialize()
{
/* Check the assumptions about uavobject enum's are correct */
PIOS_STATIC_ASSERT(assumptions);
ManualControlCommandInitialize();
FlightStatusInitialize();
ManualControlSettingsInitialize();
FlightModeSettingsInitialize();
SystemSettingsInitialize();
StabilizationSettingsInitialize();
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
VtolSelfTuningStatsInitialize();
VtolPathFollowerSettingsInitialize();
VtolPathFollowerSettingsConnectCallback(&SettingsUpdatedCb);
SystemSettingsConnectCallback(&SettingsUpdatedCb);
#endif
callbackHandle = PIOS_CALLBACKSCHEDULER_Create(&manualControlTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_MANUALCONTROL, STACK_SIZE_BYTES);
return 0;
}
/**
* Function used to initialize the first instance of each object.
* This file is automatically updated by the UAVObjectGenerator.
*/
void UAVObjectsInitializeAll()
{
ActuatorCommandInitialize();
ActuatorDesiredInitialize();
ActuatorSettingsInitialize();
AHRSCalibrationInitialize();
AHRSSettingsInitialize();
AhrsStatusInitialize();
AttitudeActualInitialize();
AttitudeDesiredInitialize();
AttitudeRawInitialize();
AttitudeSettingsInitialize();
BaroAltitudeInitialize();
ExampleObject1Initialize();
ExampleObject2Initialize();
ExampleSettingsInitialize();
FlightBatteryStateInitialize();
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
GPSPositionInitialize();
GPSSatellitesInitialize();
GPSTimeInitialize();
HomeLocationInitialize();
ManualControlCommandInitialize();
ManualControlSettingsInitialize();
MixerSettingsInitialize();
MixerStatusInitialize();
ObjectPersistenceInitialize();
PositionActualInitialize();
StabilizationSettingsInitialize();
SystemAlarmsInitialize();
SystemSettingsInitialize();
SystemStatsInitialize();
TelemetrySettingsInitialize();
VTOLSettingsInitialize();
VTOLStatusInitialize();
}
/**
* Initialize the module, called on startup.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModInitialize(void)
{
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
SystemSettingsInitialize();
SystemStatsInitialize();
FlightStatusInitialize();
ObjectPersistenceInitialize();
#if defined(DIAG_TASKS)
TaskInfoInitialize();
#endif
#if defined(WDG_STATS_DIAGNOSTICS)
WatchdogStatusInitialize();
#endif
objectPersistenceQueue = PIOS_Queue_Create(1, sizeof(UAVObjEvent));
if (objectPersistenceQueue == NULL)
return -1;
SystemModStart();
return 0;
}
