/*********** 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 ) {
#ifndef SINGLE_MCU
#if defined USE_I2C0 || defined USE_I2C1 || defined USE_I2C2
i2c_event();
#endif
#endif
#if USE_AHRS && USE_IMU
ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
#endif
#if USE_INS
InsEvent(NULL);
#endif
#if USE_GPS
GpsEvent(on_gps_solution);
#endif /* USE_GPS */
#if USE_BAROMETER
BaroEvent(on_baro_abs_event, on_baro_dif_event);
#endif
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() */
/*********** 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() */
/*********** EVENT ***********************************************************/
void event_task_ap( void ) {
#ifdef USE_ANALOG_IMU
ImuEvent(on_gyro_accel_event, on_mag_event);
#endif // USE_ANALOG_IMU
#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 */
#if defined DATALINK
#if DATALINK == PPRZ
if (PprzBuffer()) {
ReadPprzBuffer();
if (pprz_msg_received) {
pprz_parse_payload();
pprz_msg_received = FALSE;
}
}
#elif DATALINK == XBEE
if (XBeeBuffer()) {
ReadXBeeBuffer();
if (xbee_msg_received) {
xbee_parse_payload();
xbee_msg_received = FALSE;
}
}
#else
#error "Unknown DATALINK"
#endif
if (dl_msg_available) {
dl_parse_msg();
dl_msg_available = FALSE;
}
#endif /** DATALINK */
#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() */