/** * Register objects for the default logging profile */ static void register_default_profile() { // For the default profile, we limit things to 100Hz (for now) uint16_t min_period = MAX(get_minimum_logging_period(), 10); // Objects for which we log all changes (use 100Hz to limit max data rate) UAVObjConnectCallbackThrottled(FlightStatusHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10); UAVObjConnectCallbackThrottled(SystemAlarmsHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10); if (WaypointActiveHandle()) { UAVObjConnectCallbackThrottled(WaypointActiveHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10); } if (SystemIdentHandle()){ UAVObjConnectCallbackThrottled(SystemIdentHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10); } // Log fast UAVObjConnectCallbackThrottled(AccelsHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, min_period); UAVObjConnectCallbackThrottled(GyrosHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, min_period); // Log a bit slower UAVObjConnectCallbackThrottled(AttitudeActualHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period); UAVObjConnectCallbackThrottled(MagnetometerHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period); UAVObjConnectCallbackThrottled(ManualControlCommandHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period); UAVObjConnectCallbackThrottled(ActuatorDesiredHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period); UAVObjConnectCallbackThrottled(StabilizationDesiredHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period); // Log slow if (FlightBatteryStateHandle()) { UAVObjConnectCallbackThrottled(FlightBatteryStateHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period); } if (BaroAltitudeHandle()) { UAVObjConnectCallbackThrottled(BaroAltitudeHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period); } if (AirspeedActualHandle()) { UAVObjConnectCallbackThrottled(AirspeedActualHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period); } if (GPSPositionHandle()) { UAVObjConnectCallbackThrottled(GPSPositionHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period); } if (PositionActualHandle()) { UAVObjConnectCallbackThrottled(PositionActualHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period); } if (VelocityActualHandle()) { UAVObjConnectCallbackThrottled(VelocityActualHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period); } // Log very slow if (GPSTimeHandle()) { UAVObjConnectCallbackThrottled(GPSTimeHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 50 * min_period); } // Log very very slow if (GPSSatellitesHandle()) { UAVObjConnectCallbackThrottled(GPSSatellitesHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 500 * min_period); } }
/** * Module initialization */ int32_t StabilizationStart() { StabilizationSettingsConnectCallback(SettingsUpdatedCb); ManualControlCommandConnectCallback(FlightModeSwitchUpdatedCb); StabilizationBankConnectCallback(BankUpdatedCb); StabilizationSettingsBank1ConnectCallback(SettingsBankUpdatedCb); StabilizationSettingsBank2ConnectCallback(SettingsBankUpdatedCb); StabilizationSettingsBank3ConnectCallback(SettingsBankUpdatedCb); StabilizationDesiredConnectCallback(StabilizationDesiredUpdatedCb); SettingsUpdatedCb(StabilizationSettingsHandle()); StabilizationDesiredUpdatedCb(StabilizationDesiredHandle()); FlightModeSwitchUpdatedCb(ManualControlCommandHandle()); BankUpdatedCb(StabilizationBankHandle()); #ifdef PIOS_INCLUDE_WDG PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION); #endif return 0; }