/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsInitialize(void)
{
InsStatusInitialize();
InsSettingsInitialize();
AttitudeRawInitialize();
AttitudeActualInitialize();
VelocityActualInitialize();
PositionActualInitialize();
return 0;
}
/**
* Initialize the module
* \return -1 if initialization failed
* \return 0 on success
*/
static int32_t uavoTaranisInitialize(void)
{
uint32_t sport_com = PIOS_COM_FRSKY_SPORT;
if (sport_com) {
frsky = PIOS_malloc(sizeof(struct frsky_sport_telemetry));
if (frsky != NULL) {
memset(frsky, 0x00, sizeof(struct frsky_sport_telemetry));
// These objects are registered on the TLM so it
// can intercept them from the telemetry stream
FlightBatteryStateInitialize();
FlightStatusInitialize();
PositionActualInitialize();
VelocityActualInitialize();
frsky->frsky_settings.use_current_sensor = false;
frsky->frsky_settings.batt_cell_count = 0;
frsky->frsky_settings.use_baro_sensor = false;
frsky->state = FRSKY_STATE_WAIT_POLL_REQUEST;
frsky->last_poll_time = PIOS_DELAY_GetuS();
frsky->ignore_rx_chars = 0;
frsky->scheduled_item = -1;
frsky->com = sport_com;
uint8_t i;
for (i = 0; i < NELEMENTS(frsky_value_items); i++)
frsky->item_last_triggered[i] = PIOS_DELAY_GetuS();
PIOS_COM_ChangeBaud(frsky->com, FRSKY_SPORT_BAUDRATE);
module_enabled = true;
return 0;
}
module_enabled = true;
return 0;
}
module_enabled = false;
return -1;
}
/**
* Initialise the module. Called before the start function
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeInitialize(void)
{
AttitudeActualInitialize();
AirspeedActualInitialize();
AirspeedSensorInitialize();
AttitudeSettingsInitialize();
PositionActualInitialize();
VelocityActualInitialize();
RevoSettingsInitialize();
RevoCalibrationInitialize();
EKFConfigurationInitialize();
EKFStateVarianceInitialize();
FlightStatusInitialize();
// Initialize this here while we aren't setting the homelocation in GPS
HomeLocationInitialize();
// Initialize quaternion
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = 1.0f;
attitude.q2 = 0.0f;
attitude.q3 = 0.0f;
attitude.q4 = 0.0f;
AttitudeActualSet(&attitude);
// Cannot trust the values to init right above if BL runs
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosBias.x = 0.0f;
gyrosBias.y = 0.0f;
gyrosBias.z = 0.0f;
GyrosBiasSet(&gyrosBias);
AttitudeSettingsConnectCallback(&settingsUpdatedCb);
RevoSettingsConnectCallback(&settingsUpdatedCb);
RevoCalibrationConnectCallback(&settingsUpdatedCb);
HomeLocationConnectCallback(&settingsUpdatedCb);
EKFConfigurationConnectCallback(&settingsUpdatedCb);
FlightStatusConnectCallback(&settingsUpdatedCb);
return 0;
}
/**
* Function used to initialize the first instance of each object.
* This file is automatically updated by the UAVObjectGenerator.
*/
void UAVObjectsInitializeAll()
{
ActuatorCommandInitialize();
ActuatorDesiredInitialize();
ActuatorSettingsInitialize();
AHRSCalibrationInitialize();
AHRSSettingsInitialize();
AhrsStatusInitialize();
AttitudeActualInitialize();
AttitudeDesiredInitialize();
AttitudeRawInitialize();
AttitudeSettingsInitialize();
BaroAltitudeInitialize();
ExampleObject1Initialize();
ExampleObject2Initialize();
ExampleSettingsInitialize();
FlightBatteryStateInitialize();
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
GPSPositionInitialize();
GPSSatellitesInitialize();
GPSTimeInitialize();
HomeLocationInitialize();
ManualControlCommandInitialize();
ManualControlSettingsInitialize();
MixerSettingsInitialize();
MixerStatusInitialize();
ObjectPersistenceInitialize();
PositionActualInitialize();
StabilizationSettingsInitialize();
SystemAlarmsInitialize();
SystemSettingsInitialize();
SystemStatsInitialize();
TelemetrySettingsInitialize();
VTOLSettingsInitialize();
VTOLStatusInitialize();
}
/**
* PIOS_Board_Init()
* initializes all the core systems on this specific hardware
* called from System/openpilot.c
*/
void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
{
uint32_t pios_udp_telem_rf_id;
if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_telem_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_udp_com_driver, pios_udp_telem_rf_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_udp_gps_id;
if (PIOS_UDP_Init(&pios_udp_gps_id, &pios_udp_gps_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_udp_com_driver, pios_udp_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
tx_buffer, PIOS_COM_GPS_RX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_GPS */
#endif
// Initialize these here as posix has no AHRSComms
AttitudeRawInitialize();
AttitudeActualInitialize();
VelocityActualInitialize();
PositionActualInitialize();
}
