/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t FlightTelemetryStatsInitialize(void)
{
// Compile time assertion that the FlightTelemetryStatsDataPacked and FlightTelemetryStatsData structs
// have the same size (though instances of FlightTelemetryStatsData
// should be placed in memory by the linker/compiler on a 4 byte alignment).
PIOS_STATIC_ASSERT(sizeof(FlightTelemetryStatsDataPacked) == sizeof(FlightTelemetryStatsData));
// Don't set the handle to null if already registered
if (UAVObjGetByID(FLIGHTTELEMETRYSTATS_OBJID)) {
return -2;
}
// Register object with the object manager
handle = UAVObjRegister(FLIGHTTELEMETRYSTATS_OBJID,
FLIGHTTELEMETRYSTATS_ISSINGLEINST, FLIGHTTELEMETRYSTATS_ISSETTINGS, FLIGHTTELEMETRYSTATS_ISPRIORITY, FLIGHTTELEMETRYSTATS_NUMBYTES, &FlightTelemetryStatsSetDefaults);
// Done
return handle ? 0 : -1;
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t SystemSettingsInitialize(void)
{
// Compile time assertion that the SystemSettingsDataPacked and SystemSettingsData structs
// have the same size (though instances of SystemSettingsData
// should be placed in memory by the linker/compiler on a 4 byte alignment).
PIOS_STATIC_ASSERT(sizeof(SystemSettingsDataPacked) == sizeof(SystemSettingsData));
// Don't set the handle to null if already registered
if (UAVObjGetByID(SYSTEMSETTINGS_OBJID)) {
return -2;
}
// Register object with the object manager
handle = UAVObjRegister(SYSTEMSETTINGS_OBJID,
SYSTEMSETTINGS_ISSINGLEINST, SYSTEMSETTINGS_ISSETTINGS, SYSTEMSETTINGS_ISPRIORITY, SYSTEMSETTINGS_NUMBYTES, &SystemSettingsSetDefaults);
// Done
return handle ? 0 : -1;
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t PositionStateInitialize(void)
{
// Compile time assertion that the PositionStateDataPacked and PositionStateData structs
// have the same size (though instances of PositionStateData
// should be placed in memory by the linker/compiler on a 4 byte alignment).
PIOS_STATIC_ASSERT(sizeof(PositionStateDataPacked) == sizeof(PositionStateData));
// Don't set the handle to null if already registered
if (UAVObjGetByID(POSITIONSTATE_OBJID)) {
return -2;
}
// Register object with the object manager
handle = UAVObjRegister(POSITIONSTATE_OBJID,
POSITIONSTATE_ISSINGLEINST, POSITIONSTATE_ISSETTINGS, POSITIONSTATE_ISPRIORITY, POSITIONSTATE_NUMBYTES, &PositionStateSetDefaults);
// Done
return handle ? 0 : -1;
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t VtolSelfTuningStatsInitialize(void)
{
// Compile time assertion that the VtolSelfTuningStatsDataPacked and VtolSelfTuningStatsData structs
// have the same size (though instances of VtolSelfTuningStatsData
// should be placed in memory by the linker/compiler on a 4 byte alignment).
PIOS_STATIC_ASSERT(sizeof(VtolSelfTuningStatsDataPacked) == sizeof(VtolSelfTuningStatsData));
// Don't set the handle to null if already registered
if (UAVObjGetByID(VTOLSELFTUNINGSTATS_OBJID)) {
return -2;
}
// Register object with the object manager
handle = UAVObjRegister(VTOLSELFTUNINGSTATS_OBJID,
VTOLSELFTUNINGSTATS_ISSINGLEINST, VTOLSELFTUNINGSTATS_ISSETTINGS, VTOLSELFTUNINGSTATS_ISPRIORITY, VTOLSELFTUNINGSTATS_NUMBYTES, &VtolSelfTuningStatsSetDefaults);
// Done
return handle ? 0 : -1;
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t AccelSensorInitialize(void)
{
// Compile time assertion that the AccelSensorDataPacked and AccelSensorData structs
// have the same size (though instances of AccelSensorData
// should be placed in memory by the linker/compiler on a 4 byte alignment).
PIOS_STATIC_ASSERT(sizeof(AccelSensorDataPacked) == sizeof(AccelSensorData));
// Don't set the handle to null if already registered
if (UAVObjGetByID(ACCELSENSOR_OBJID)) {
return -2;
}
// Register object with the object manager
handle = UAVObjRegister(ACCELSENSOR_OBJID,
ACCELSENSOR_ISSINGLEINST, ACCELSENSOR_ISSETTINGS, ACCELSENSOR_ISPRIORITY, ACCELSENSOR_NUMBYTES, &AccelSensorSetDefaults);
// Done
return handle ? 0 : -1;
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t EKFConfigurationInitialize(void)
{
// Compile time assertion that the EKFConfigurationDataPacked and EKFConfigurationData structs
// have the same size (though instances of EKFConfigurationData
// should be placed in memory by the linker/compiler on a 4 byte alignment).
PIOS_STATIC_ASSERT(sizeof(EKFConfigurationDataPacked) == sizeof(EKFConfigurationData));
// Don't set the handle to null if already registered
if (UAVObjGetByID(EKFCONFIGURATION_OBJID)) {
return -2;
}
// Register object with the object manager
handle = UAVObjRegister(EKFCONFIGURATION_OBJID,
EKFCONFIGURATION_ISSINGLEINST, EKFCONFIGURATION_ISSETTINGS, EKFCONFIGURATION_ISPRIORITY, EKFCONFIGURATION_NUMBYTES, &EKFConfigurationSetDefaults);
// Done
return handle ? 0 : -1;
}
/**
* Module initialization
*/
int32_t ManualControlInitialize()
{
/* Check the assumptions about uavobject enum's are correct */
PIOS_STATIC_ASSERT(assumptions);
ManualControlCommandInitialize();
FlightStatusInitialize();
ManualControlSettingsInitialize();
FlightModeSettingsInitialize();
SystemSettingsInitialize();
StabilizationSettingsInitialize();
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
VtolSelfTuningStatsInitialize();
VtolPathFollowerSettingsInitialize();
VtolPathFollowerSettingsConnectCallback(&SettingsUpdatedCb);
SystemSettingsConnectCallback(&SettingsUpdatedCb);
#endif
callbackHandle = PIOS_CALLBACKSCHEDULER_Create(&manualControlTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_MANUALCONTROL, STACK_SIZE_BYTES);
return 0;
}
