void auto_logic_init(void)
{
tsfloat_init(&setp_n, 0.0f);
tsfloat_init(&setp_e, 0.0f);
tsfloat_init(&setp_yaw, 0.0f);
tsint_init(&motors_enabled, 0);
}
SIMPLE_THREAD_END
int scl_elevmap_init(void)
{
THROW_BEGIN();
scl_socket = scl_get_socket("elev");
THROW_IF(scl_socket == NULL, -ENODEV);
tsfloat_init(&elevation, 0.0f);
simple_thread_start(&thread, thread_func, "elevmap_reader", THREAD_PRIORITY, NULL);
THROW_END();
}
void yaw_ctrl_init(void)
{
ASSERT_ONCE();
opcd_param_t params[] =
{
{"speed_min", &speed_min},
{"speed_std", &speed_std},
{"speed_max", &speed_max},
{"speed_slope", &speed_slope},
{"speed_p", &speed_p.value},
{"speed_i", &speed_i.value},
{"speed_imax", &speed_imax.value},
{"manual", &manual},
OPCD_PARAMS_END
};
opcd_params_apply("controllers.yaw.", params);
tsfloat_init(&pos, 0.0f);
tsfloat_init(&speed, tsfloat_get(&speed_std));
pid_init(&controller, &speed_p, &speed_i, NULL, &speed_imax);
}
