/** * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ int32_t GuidanceInitialize() { // Create object queue queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent)); // Listen for updates. AttitudeRawConnectQueue(queue); // Start main task xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle); TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle); return 0; }
/** * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ int32_t GuidanceInitialize() { GuidanceSettingsInitialize(); PositionDesiredInitialize(); NedAccelInitialize(); VelocityDesiredInitialize(); // Create object queue queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent)); // Listen for updates. AttitudeRawConnectQueue(queue); return 0; }
/** * Module initialization */ int32_t StabilizationInitialize() { // Initialize variables // Create object queue queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent)); // Listen for updates. // AttitudeActualConnectQueue(queue); AttitudeRawConnectQueue(queue); StabilizationSettingsConnectCallback(SettingsUpdatedCb); SettingsUpdatedCb(StabilizationSettingsHandle()); // Start main task return 0; }