static inline C_RESULT navdata_process( const navdata_unpacked_t* const navdata )
{
if( writeToFile )
{
if( navdata_file == NULL )
{
ardrone_navdata_file_data data;
data.filename = NULL;
data.print_header = NULL;
data.print = NULL;
ardrone_navdata_file_init(NULL);
}
ardrone_navdata_file_process( navdata );
}
else
{
if(navdata_file != NULL)
ardrone_navdata_file_release();
}
vp_os_mutex_lock( &inst_nav_mutex);
vp_os_memcpy(&inst_nav, navdata, sizeof(navdata_unpacked_t));
vp_os_mutex_unlock( &inst_nav_mutex );
return C_OK;
}
static inline C_RESULT ardrone_navdata_process( const navdata_unpacked_t* const navdata )
{
if( writeToFile )
{
if( navdata_file == NULL )
{
ardrone_navdata_file_init(root_dir);
PRINT("Saving in %s file\n", root_dir);
}
ardrone_navdata_file_process( navdata );
}
else
{
if(navdata_file != NULL)
ardrone_navdata_file_release();
}
vp_os_mutex_lock( &inst_nav_mutex);
/* inst_nav.ardrone_state = navdata->ardrone_state;
inst_nav.vision_defined = navdata->vision_defined;
vp_os_memcpy(&inst_nav.navdata_demo, &navdata->navdata_demo, sizeof(navdata_demo_t));
vp_os_memcpy(&inst_nav.navdata_vision_detect, &navdata->navdata_vision_detect, sizeof(navdata_vision_detect_t));
*/
vp_os_memcpy(&inst_nav, navdata, sizeof(navdata_unpacked_t));
vp_os_mutex_unlock( &inst_nav_mutex );
return C_OK;
}
static inline C_RESULT navdata_release( void )
{
ardrone_navdata_file_release();
return C_OK;
}
