/**
* Start the task. Expects all objects to be initialized by this point.
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeStart(void)
{
// Create the queues for the sensors
gyroQueue = xQueueCreate(1, sizeof(UAVObjEvent));
accelQueue = xQueueCreate(1, sizeof(UAVObjEvent));
magQueue = xQueueCreate(1, sizeof(UAVObjEvent));
airspeedQueue = xQueueCreate(1, sizeof(UAVObjEvent));
baroQueue = xQueueCreate(1, sizeof(UAVObjEvent));
gpsQueue = xQueueCreate(1, sizeof(UAVObjEvent));
gpsVelQueue = xQueueCreate(1, sizeof(UAVObjEvent));
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &attitudeTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ATTITUDE, attitudeTaskHandle);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
#endif
GyrosConnectQueue(gyroQueue);
AccelsConnectQueue(accelQueue);
MagnetometerConnectQueue(magQueue);
AirspeedSensorConnectQueue(airspeedQueue);
BaroAltitudeConnectQueue(baroQueue);
GPSPositionConnectQueue(gpsQueue);
GPSVelocityConnectQueue(gpsVelQueue);
return 0;
}
/**
* Module initialization
*/
int32_t StabilizationStart()
{
// Initialize variables
// Create object queue
queue = PIOS_Queue_Create(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for updates.
// AttitudeActualConnectQueue(queue);
GyrosConnectQueue(queue);
// Connect settings callback
MWRateSettingsConnectCallback(SettingsUpdatedCb);
StabilizationSettingsConnectCallback(SettingsUpdatedCb);
TrimAnglesSettingsConnectCallback(SettingsUpdatedCb);
// Start main task
taskHandle = PIOS_Thread_Create(stabilizationTask, "Stabilization", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION);
return 0;
}
