void ins_event_task( void ) {
if (spi_message_received) {
spi_message_received = FALSE;
parse_ins_msg();
//uint8_t s = 4+VN100_REG_QMR_SIZE;
//DOWNLINK_SEND_DEBUG(DefaultChannel,s,spi_buffer_input);
}
}
void vn100_event_task(void)
{
if (vn100_trans.status == SPITransSuccess) {
parse_ins_msg();
#ifndef INS_VN100_READ_ONLY
// Update estimator
// FIXME Use a proper rotation matrix here
struct FloatEulers att = {
ins_eulers.phi - ins_roll_neutral,
ins_eulers.theta - ins_pitch_neutral,
ins_eulers.psi
};
stateSetNedToBodyEulers_f(&att);
stateSetBodyRates_f(&ins_rates);
#endif
//uint8_t s = 4+VN100_REG_QMR_SIZE;
//DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice,s,spi_buffer_input);
vn100_trans.status = SPITransDone;
}
if (vn100_trans.status == SPITransFailed) {
vn100_trans.status = SPITransDone;
// FIXME retry config if not done ?
}
}
