void setup(void)
{
board.init();
// sleep for 100ms
board.delayMilliseconds(100);
// flash the LEDs to indicate startup
board.ledRedOn();
board.ledGreenOff();
for (uint8_t i = 0; i < 10; i++) {
board.ledRedToggle();
board.ledGreenToggle();
board.delayMilliseconds(50);
}
board.ledRedOff();
board.ledGreenOff();
// initialize our RC, IMU, mixer, and PID controller
rc.init(&board);
imu.init(&board);
pid.init();
mixer.init(&board, &rc, &pid);
msp.init(&board, &imu, &mixer, &rc);
// set initial time
previousTime = board.getMicros();
// always do gyro calibration at startup
calibratingG = CONFIG_CALIBRATING_GYRO_CYCLES;
// trigger accelerometer calibration requirement
haveSmallAngle = true;
} // setup
void setup(void)
{
uint32_t calibratingGyroMsec;
// Get particulars for board
board.init(imuLooptimeUsec, calibratingGyroMsec);
// sleep for 100ms
board.delayMilliseconds(100);
// flash the LEDs to indicate startup
board.ledRedOn();
board.ledGreenOff();
for (uint8_t i = 0; i < 10; i++) {
board.ledRedToggle();
board.ledGreenToggle();
board.delayMilliseconds(50);
}
board.ledRedOff();
board.ledGreenOff();
// compute cycles for calibration based on board's time constant
calibratingGyroCycles = (uint16_t)(1000. * calibratingGyroMsec / imuLooptimeUsec);
calibratingAccCycles = (uint16_t)(1000. * CONFIG_CALIBRATING_ACC_MSEC / imuLooptimeUsec);
// initializing timing tasks
imuTask.init(imuLooptimeUsec);
rcTask.init(CONFIG_RC_LOOPTIME_MSEC * 1000);
accelCalibrationTask.init(CONFIG_CALIBRATE_ACCTIME_MSEC * 1000);
altitudeEstimationTask.init(CONFIG_ALTITUDE_UPDATE_MSEC * 1000);
// initialize our external objects with objects they need
rc.init(&board);
stab.init(&rc, &imu);
imu.init(&board, calibratingGyroCycles, calibratingAccCycles);
mixer.init(&board, &rc, &stab);
msp.init(&board, &imu, &nav, &mixer, &rc);
nav.init(&board, &imu, &baro, &rc);
// always do gyro calibration at startup
calibratingG = calibratingGyroCycles;
// assume shallow angle (no accelerometer calibration needed)
haveSmallAngle = true;
// ensure not armed
armed = false;
// attempt to initialize barometer
baro.init(&board);
} // setup