/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t MAVLinkInitialize(void)
{
UAVObjEvent ev;
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
TelemetrySettingsInitialize();
// Initialize vars
timeOfLastObjectUpdate = 0;
// Create object queues
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#endif
// Get telemetry settings object
updateSettings();
// Initialize waypoint protocol
mavlink_wpm_init(&wpm);
// Start specific update rates
// Create periodic event that will be used to update the telemetry stats
txErrors = 0;
txRetries = 0;
memset(&ev, 0, sizeof(UAVObjEvent));
EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
return 0;
}
/**
* Function used to initialize the first instance of each object.
* This file is automatically updated by the UAVObjectGenerator.
*/
void UAVObjectsInitializeAll()
{
ActuatorCommandInitialize();
ActuatorDesiredInitialize();
ActuatorSettingsInitialize();
AHRSCalibrationInitialize();
AHRSSettingsInitialize();
AhrsStatusInitialize();
AttitudeActualInitialize();
AttitudeDesiredInitialize();
AttitudeRawInitialize();
AttitudeSettingsInitialize();
BaroAltitudeInitialize();
ExampleObject1Initialize();
ExampleObject2Initialize();
ExampleSettingsInitialize();
FlightBatteryStateInitialize();
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
GPSPositionInitialize();
GPSSatellitesInitialize();
GPSTimeInitialize();
HomeLocationInitialize();
ManualControlCommandInitialize();
ManualControlSettingsInitialize();
MixerSettingsInitialize();
MixerStatusInitialize();
ObjectPersistenceInitialize();
PositionActualInitialize();
StabilizationSettingsInitialize();
SystemAlarmsInitialize();
SystemSettingsInitialize();
SystemStatsInitialize();
TelemetrySettingsInitialize();
VTOLSettingsInitialize();
VTOLStatusInitialize();
}