/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t GPSInitialize(void)
{
gpsPort = PIOS_COM_GPS;
uint8_t gpsProtocol;
#ifdef MODULE_GPS_BUILTIN
module_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_GPS] == MODULESETTINGS_ADMINSTATE_ENABLED) {
module_enabled = true;
} else {
module_enabled = false;
}
#endif
// These things are only conditional on small F1 targets.
// Expected to be always present otherwise.
#ifdef SMALLF1
if (gpsPort && module_enabled) {
#endif
GPSPositionInitialize();
GPSVelocityInitialize();
#if !defined(PIOS_GPS_MINIMAL)
GPSTimeInitialize();
GPSSatellitesInitialize();
HomeLocationInitialize();
UBloxInfoInitialize();
#endif
#if defined(PIOS_GPS_PROVIDES_AIRSPEED)
AirspeedActualInitialize();
#endif
updateSettings();
#ifdef SMALLF1
}
#endif
if (gpsPort && module_enabled) {
ModuleSettingsGPSDataProtocolGet(&gpsProtocol);
switch (gpsProtocol) {
case MODULESETTINGS_GPSDATAPROTOCOL_NMEA:
gps_rx_buffer = PIOS_malloc(NMEA_MAX_PACKET_LENGTH);
break;
case MODULESETTINGS_GPSDATAPROTOCOL_UBX:
gps_rx_buffer = PIOS_malloc(sizeof(struct UBXPacket));
break;
default:
gps_rx_buffer = NULL;
}
PIOS_Assert(gps_rx_buffer);
return 0;
}
return -1;
}
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t GPSInitialize(void)
{
GPSPositionInitialize();
GPSTimeInitialize();
GPSSatellitesInitialize();
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize();
#endif
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
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();
}
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t GPSInitialize(void)
{
gpsPort = PIOS_COM_GPS;
uint8_t gpsProtocol;
#ifdef MODULE_GPS_BUILTIN
module_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_GPS] == MODULESETTINGS_ADMINSTATE_ENABLED) {
module_enabled = true;
} else {
module_enabled = false;
}
#endif
#if defined(REVOLUTION)
// These objects MUST be initialized for Revolution
// because the rest of the system expects to just
// attach to their queues
GPSPositionInitialize();
GPSVelocityInitialize();
GPSTimeInitialize();
GPSSatellitesInitialize();
HomeLocationInitialize();
UBloxInfoInitialize();
updateSettings();
#else
if (gpsPort && module_enabled) {
GPSPositionInitialize();
GPSVelocityInitialize();
#if !defined(PIOS_GPS_MINIMAL)
GPSTimeInitialize();
GPSSatellitesInitialize();
#endif
#if defined(PIOS_GPS_PROVIDES_AIRSPEED)
AirspeedActualInitialize();
#endif
updateSettings();
}
#endif
if (gpsPort && module_enabled) {
ModuleSettingsGPSDataProtocolGet(&gpsProtocol);
switch (gpsProtocol) {
case MODULESETTINGS_GPSDATAPROTOCOL_NMEA:
gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
break;
case MODULESETTINGS_GPSDATAPROTOCOL_UBX:
gps_rx_buffer = pvPortMalloc(sizeof(struct UBXPacket));
break;
default:
gps_rx_buffer = NULL;
}
PIOS_Assert(gps_rx_buffer);
return 0;
}
return -1;
}
