/*********** EVENT ***********************************************************/ void event_task_ap( void ) { #ifdef USE_INFRARED infrared_event(); #endif #ifdef USE_AHRS ImuEvent(on_gyro_accel_event, on_accel_event, on_mag_event); #endif // USE_AHRS #ifdef USE_GPS #if !(defined HITL) && !(defined UBX_EXTERNAL) /** else comes through the datalink */ if (GpsBuffer()) { ReadGpsBuffer(); } #endif if (gps_msg_received) { /* parse and use GPS messages */ #ifdef GPS_CONFIGURE if (gps_configuring) gps_configure(); else #endif parse_gps_msg(); gps_msg_received = FALSE; if (gps_pos_available) { gps_verbose_downlink = !launch; UseGpsPosNoSend(estimator_update_state_gps); gps_downlink(); #ifdef GPS_TRIGGERED_FUNCTION #ifndef SITL GPS_TRIGGERED_FUNCTION(); #endif #endif gps_pos_available = FALSE; } } #endif /** USE_GPS */ DatalinkEvent(); #ifdef MCU_SPI_LINK link_mcu_event_task(); #endif if (inter_mcu_received_fbw) { /* receive radio control task from fbw */ inter_mcu_received_fbw = FALSE; telecommand_task(); } modules_event_task(); } /* event_task_ap() */
/*********** EVENT ***********************************************************/ void event_task_ap( void ) { #ifdef USE_INFRARED infrared_event(); #endif #ifdef USE_AHRS ImuEvent(on_gyro_event, on_accel_event, on_mag_event); #endif // USE_AHRS #ifdef USE_GPS GpsEvent(on_gps_solution); #endif /** USE_GPS */ DatalinkEvent(); #ifdef MCU_SPI_LINK link_mcu_event_task(); #endif if (inter_mcu_received_fbw) { /* receive radio control task from fbw */ inter_mcu_received_fbw = FALSE; telecommand_task(); } modules_event_task(); #ifdef AHRS_TRIGGERED_ATTITUDE_LOOP if (new_ins_attitude > 0) { attitude_loop(); //LED_TOGGLE(3); new_ins_attitude = 0; } #endif } /* event_task_ap() */