void crtpserviceInit(void) { if (isInit) return; // Register a callback to service the Link port crtpRegisterPortCB(CRTP_PORT_LINK, crtpserviceHandler); isInit = true; }
void platformserviceInit(void) { if (isInit) return; // Register a callback to service the Platform port crtpRegisterPortCB(CRTP_PORT_PLATFORM, platformserviceHandler); isInit = true; }
void commanderInit(void) { if(isInit) return; crtpInit(); crtpRegisterPortCB(CRTP_PORT_COMMANDER, commanderCrtpCB); lastUpdate = xTaskGetTickCount(); isInactive = true; isInit = true; }
void commanderAdvancedInit(void) { if (isInit) return; crtpInit(); //crtpRegisterPortCB(CRTP_PORT_COMMANDER_ADVANCED, commanderAdvancedCrtpCB); crtpRegisterPortCB(CRTP_PORT_COMMANDER, commanderAdvancedCrtpCB); lastUpdate = xTaskGetTickCount(); isInactive = true; thrustLocked = true; isInit = true; }
void commanderInit(void) { if(isInit==RT_TRUE) return; crtpInit(); crtpRegisterPortCB(CRTP_PORT_COMMANDER, commanderCrtpCB); lastUpdate = rt_tick_get(); isInactive = RT_TRUE; isInit = RT_TRUE; }
/* Public functions */ void commanderInit(void) { if(isInit) { return; } crtpInit(); crtpRegisterPortCB(CRTP_PORT_COMMANDER, commanderCrtpCB); activeCache = &crtpCache; lastUpdate = xTaskGetTickCount(); isInactive = true; thrustLocked = true; isInit = true; }
/* Public functions */ void commanderInit(void) { if(isInit) { return; } crtpInit(); crtpRegisterPortCB(CRTP_PORT_SETPOINT, commanderCrtpCB); extPositionInit(); // Set callback for CRTP_PORT_POSITION activeCache = &crtpCache; lastUpdate = xTaskGetTickCount(); isInactive = true; thrustLocked = true; isInit = true; }
void poseCommanderInit(void) { if(isInit) return; crtpInit(); crtpRegisterPortCB(CRTP_PORT_POSE, poseCommanderCrtpCB); // x, y, z, yaw desiredPoses.front = 0; desiredPoses.rear = 0; xTaskCreate(poseCommanderTask, (const signed char * const)"POSECMD", 2*configMINIMAL_STACK_SIZE, NULL, /*Piority*/2, NULL); lastUpdate = xTaskGetTickCount(); isInactive = TRUE; isInit = TRUE; }