static inline void main_init(void) {
hw_init();
sys_time_init();
imu_init();
baro_init();
radio_control_init();
actuators_init();
overo_link_init();
cscp_init();
adc_init();
#ifdef PASSTHROUGH_CYGNUS
autopilot_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
ahrs_aligner_init();
ahrs_init();
ins_init();
#endif
adc_buf_channel(0, &adc0_buf, 8);
adc_buf_channel(1, &adc1_buf, 8);
adc_buf_channel(2, &adc2_buf, 8);
adc_buf_channel(3, &adc3_buf, 8);
cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void *)&csc_vane_msg);
new_radio_msg = FALSE;
new_baro_diff = FALSE;
new_baro_abs = FALSE;
new_vane = FALSE;
new_adc = FALSE;
overo_link.up.msg.imu_tick = 0;
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
cscp_init();
cscp_register_callback(CSC_VANE_MSG_ID, main_on_vane_msg, (void *)&csc_vane_msg);
}
static inline void main_init( void ) {
hw_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
cscp_init();
cscp_register_callback(CSC_VANE_MSG_ID, main_on_vane_msg, (void *)&csc_vane_msg);
}