/**
* Initialise the module. Called before the start function
* \returns 0 on success or -1 if initialisation failed
*/
int32_t SensorsInitialize(void)
{
GyrosInitialize();
GyrosBiasInitialize();
AccelsInitialize();
MagnetometerInitialize();
MagBiasInitialize();
RevoCalibrationInitialize();
AttitudeSettingsInitialize();
rotate = 0;
RevoCalibrationConnectCallback(&settingsUpdatedCb);
AttitudeSettingsConnectCallback(&settingsUpdatedCb);
return 0;
}
/**
* Initialise the module. Called before the start function
* \returns 0 on success or -1 if initialisation failed
*/
int32_t SensorsInitialize(void)
{
accel_bias[0] = rand_gauss() / 10;
accel_bias[1] = rand_gauss() / 10;
accel_bias[2] = rand_gauss() / 10;
AccelsInitialize();
AttitudeSimulatedInitialize();
BaroAltitudeInitialize();
BaroAirspeedInitialize();
GyrosInitialize();
GyrosBiasInitialize();
GPSPositionInitialize();
GPSVelocityInitialize();
MagnetometerInitialize();
MagBiasInitialize();
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeInitialize(void)
{
AttitudeActualInitialize();
SensorSettingsInitialize();
AttitudeSettingsInitialize();
AccelsInitialize();
GyrosInitialize();
// Initialize quaternion
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = 1;
attitude.q2 = 0;
attitude.q3 = 0;
attitude.q4 = 0;
AttitudeActualSet(&attitude);
// Cannot trust the values to init right above if BL runs
gyro_correct_int[0] = 0;
gyro_correct_int[1] = 0;
gyro_correct_int[2] = 0;
q[0] = 1;
q[1] = 0;
q[2] = 0;
q[3] = 0;
for(uint8_t i = 0; i < 3; i++)
for(uint8_t j = 0; j < 3; j++)
Rsb[i][j] = 0;
trim_requested = false;
AttitudeSettingsConnectCallback(&settingsUpdatedCb);
SensorSettingsConnectCallback(&settingsUpdatedCb);
return 0;
}
/**
* PIOS_Board_Init()
* initializes all the core systems on this specific hardware
* called from System/openpilot.c
*/
void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
AccelsInitialize();
BaroAltitudeInitialize();
MagnetometerInitialize();
GPSPositionInitialize();
GyrosInitialize();
GyrosBiasInitialize();
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 1
{
uint32_t pios_tcp_telem_rf_id;
if (PIOS_TCP_Init(&pios_tcp_telem_rf_id, &pios_tcp_telem_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_tcp_com_driver, pios_tcp_telem_rf_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 0
{
uint32_t pios_udp_telem_rf_id;
if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_telem_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_udp_com_driver, pios_udp_telem_rf_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_tcp_gps_id;
if (PIOS_TCP_Init(&pios_tcp_gps_id, &pios_tcp_gps_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_tcp_com_driver, pios_tcp_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_GPS */
#endif
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
uint32_t pios_gcsrcvr_id;
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
uint32_t pios_gcsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
}