/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t FixedWingPathFollowerInitialize()
{
#ifdef MODULE_FixedWingPathFollower_BUILTIN
module_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_FIXEDWINGPATHFOLLOWER] == MODULESETTINGS_ADMINSTATE_ENABLED) {
module_enabled = true;
} else {
module_enabled = false;
}
#endif
if (module_enabled) {
FixedWingPathFollowerSettingsInitialize();
FixedWingAirspeedsInitialize();
FixedWingPathFollowerStatusInitialize();
PathDesiredInitialize();
PathStatusInitialize();
VelocityDesiredInitialize();
AirspeedActualInitialize();
}
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t VtolPathFollowerInitialize()
{
#ifdef MODULE_VtolPathFollower_BUILTIN
module_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_VTOLPATHFOLLOWER] == MODULESETTINGS_ADMINSTATE_ENABLED) {
module_enabled = true;
} else {
module_enabled = false;
}
#endif
if (!module_enabled) {
return -1;
}
VtolPathFollowerSettingsInitialize();
PathStatusInitialize();
NedAccelInitialize();
PathDesiredInitialize();
VelocityDesiredInitialize();
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t GuidanceInitialize()
{
GuidanceSettingsInitialize();
PositionDesiredInitialize();
NedAccelInitialize();
VelocityDesiredInitialize();
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for updates.
AttitudeRawConnectQueue(queue);
return 0;
}
