/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t GuidanceInitialize()
{
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for updates.
AttitudeRawConnectQueue(queue);
// Start main task
xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
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;
}
/**
* Module initialization
*/
int32_t StabilizationInitialize()
{
// Initialize variables
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for updates.
// AttitudeActualConnectQueue(queue);
AttitudeRawConnectQueue(queue);
StabilizationSettingsConnectCallback(SettingsUpdatedCb);
SettingsUpdatedCb(StabilizationSettingsHandle());
// Start main task
return 0;
}
