/** * 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 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; }