/**
* 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;
}
/**
* @brief initialize UAVOs and structs used by this library
*/
void plan_initialize()
{
TakeOffLocationInitialize();
PositionStateInitialize();
PathDesiredInitialize();
FlightModeSettingsInitialize();
FlightStatusInitialize();
AttitudeStateInitialize();
ManualControlCommandInitialize();
VelocityStateInitialize();
VtolPathFollowerSettingsInitialize();
}
/**
* Module initialization
*/
int32_t ManualControlInitialize()
{
/* Check the assumptions about uavobject enum's are correct */
PIOS_STATIC_ASSERT(assumptions);
ManualControlCommandInitialize();
FlightStatusInitialize();
ManualControlSettingsInitialize();
FlightModeSettingsInitialize();
SystemSettingsInitialize();
StabilizationSettingsInitialize();
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
VtolSelfTuningStatsInitialize();
VtolPathFollowerSettingsInitialize();
VtolPathFollowerSettingsConnectCallback(&SettingsUpdatedCb);
SystemSettingsConnectCallback(&SettingsUpdatedCb);
#endif
callbackHandle = PIOS_CALLBACKSCHEDULER_Create(&manualControlTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_MANUALCONTROL, STACK_SIZE_BYTES);
return 0;
}
