/**
* Initialise the UAVORelay module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t UAVORelayInitialize(void)
{
// TODO: make selectable
uavorelay_com_id = pios_com_can_id;
#ifdef MODULE_UAVORelay_BUILTIN
module_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_UAVORELAY] == MODULESETTINGS_ADMINSTATE_ENABLED) {
module_enabled = true;
} else {
module_enabled = false;
}
#endif
if (!uavorelay_com_id)
module_enabled = false;
if (!module_enabled)
return -1;
// Create object queues
queue = PIOS_Queue_Create(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&send_data);
CameraDesiredInitialize();
return 0;
}
/**
* Initialise the UAVORelay module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t GimbalControlInitialize(void)
{
#ifdef MODULE_GimbalControl_BUILTIN
module_enabled = true;
#else
module_enabled = false;
#endif
if (!module_enabled)
return -1;
// Create object queues
queue = PIOS_CAN_RegisterMessageQueue(pios_can_id, PIOS_CAN_GIMBAL);
BrushlessGimbalSettingsInitialize();
CameraDesiredInitialize();
return 0;
}
