//! Initialize the transmitter control mode
int32_t transmitter_control_initialize()
{
AccessoryDesiredInitialize();
ManualControlCommandInitialize();
FlightStatusInitialize();
StabilizationDesiredInitialize();
ReceiverActivityInitialize();
ManualControlSettingsInitialize();
// Both the gimbal and coptercontrol do not support loitering
#if !defined(SMALLF1) && !defined(GIMBAL)
LoiterCommandInitialize();
#endif
/* For now manual instantiate extra instances of Accessory Desired. In future */
/* should be done dynamically this includes not even registering it if not used */
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance();
/* No pending control events */
pending_control_event = CONTROL_EVENTS_NONE;
/* Initialize the RcvrActivty FSM */
lastActivityTime = PIOS_Thread_Systime();
resetRcvrActivity(&activity_fsm);
// Use callback to update the settings when they change
ManualControlSettingsConnectCallbackCtx(UAVObjCbSetFlag, &settings_updated);
settings_updated = true;
// Main task loop
lastSysTime = PIOS_Thread_Systime();
return 0;
}
//! Initialize the transmitter control mode
int32_t transmitter_control_initialize()
{
/* Check the assumptions about uavobject enum's are correct */
if(!assumptions)
return -1;
AccessoryDesiredInitialize();
ManualControlCommandInitialize();
FlightStatusInitialize();
StabilizationDesiredInitialize();
ReceiverActivityInitialize();
ManualControlSettingsInitialize();
// Both the gimbal and coptercontrol do not support loitering
#if !defined(COPTERCONTROL) && !defined(GIMBAL)
LoiterCommandInitialize();
#endif
/* For now manual instantiate extra instances of Accessory Desired. In future */
/* should be done dynamically this includes not even registering it if not used */
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance();
/* Reset the state machine for processing stick movements */
arm_state = ARM_STATE_DISARMED;
/* No pending control events */
pending_control_event = CONTROL_EVENTS_NONE;
/* Initialize the RcvrActivty FSM */
lastActivityTime = xTaskGetTickCount();
resetRcvrActivity(&activity_fsm);
// Use callback to update the settings when they change
ManualControlSettingsConnectCallback(manual_control_settings_updated);
manual_control_settings_updated(NULL);
// Main task loop
lastSysTime = xTaskGetTickCount();
return 0;
}
