/*
* PMAPI context creation and initial command line option handling.
*/
static int
setup_context(pmOptions *opts)
{
char *source;
int sts, ctx;
if (opts->context == PM_CONTEXT_ARCHIVE)
source = opts->archives[0];
else if (opts->context == PM_CONTEXT_HOST)
source = opts->hosts[0];
else if (opts->context == PM_CONTEXT_LOCAL)
source = NULL;
else
{
opts->context = PM_CONTEXT_HOST;
source = "local:";
}
if ((sts = ctx = pmNewContext(opts->context, source)) < 0)
{
if (opts->context == PM_CONTEXT_HOST)
pmprintf(
"%s: Cannot connect to pmcd on host \"%s\": %s\n",
pmProgname, source, pmErrStr(sts));
else if (opts->context == PM_CONTEXT_LOCAL)
pmprintf(
"%s: Cannot make standalone connection on localhost: %s\n",
pmProgname, pmErrStr(sts));
else
pmprintf(
"%s: Cannot open archive \"%s\": %s\n",
pmProgname, source, pmErrStr(sts));
}
else if ((sts = pmGetContextOptions(ctx, opts)) == 0)
sts = setup_origin(opts);
if (sts < 0)
{
pmflush();
cleanstop(1);
}
return ctx;
}
void dcm_callback_gps_location_updated(void)
{
if (state_flags._.save_origin)
{
// capture origin information during power up. much of this is not
// actually used for anything, but is saved in case you decide to
// extend this code.
state_flags._.save_origin = 0;
setup_origin();
#if (BAROMETER_ALTITUDE == 1)
altimeter_calibrate();
#endif
}
// Ideally, navigate should take less than one second.
// For MatrixPilot, navigation takes only a few milliseconds.
// If you rewrite navigation to perform some rather ambitious calculations,
// perhaps using floating point, matrix inversions, Kalman filters, etc,
// you will not cause a stack overflow if you take more than 1 second,
// the interrupt handler will simply skip some of the navigation passes.
}
