int main(void)
{
main_init();
#if LIMIT_EVENT_POLLING
/* Limit main loop frequency to 1kHz.
* This is a kludge until we can better leverage threads and have real events.
* Without this limit the event flags will constantly polled as fast as possible,
* resulting on 100% cpu load on boards with an (RT)OS.
* On bare metal boards this is not an issue, as you have nothing else running anyway.
*/
uint32_t t_begin = 0;
uint32_t t_diff = 0;
while (1) {
t_begin = get_sys_time_usec();
handle_periodic_tasks();
main_event();
/* sleep remaining time to limit to 1kHz */
t_diff = get_sys_time_usec() - t_begin;
if (t_diff < 1000) {
sys_time_usleep(1000 - t_diff);
}
}
#else
while (1) {
handle_periodic_tasks();
main_event();
}
#endif
return 0;
}
void nps_autopilot_run_step(double time)
{
nps_electrical_run_step(time);
#if RADIO_CONTROL && !RADIO_CONTROL_TYPE_DATALINK
if (nps_radio_control_available(time)) {
radio_control_feed();
main_event();
}
#endif
if (nps_sensors_gyro_available()) {
imu_feed_gyro_accel();
main_event();
}
if (nps_sensors_mag_available()) {
imu_feed_mag();
main_event();
}
if (nps_sensors_baro_available()) {
float pressure = (float) sensors.baro.value;
AbiSendMsgBARO_ABS(BARO_SIM_SENDER_ID, pressure);
main_event();
}
#if USE_SONAR
if (nps_sensors_sonar_available()) {
float dist = (float) sensors.sonar.value;
AbiSendMsgAGL(AGL_SONAR_NPS_ID, dist);
uint16_t foo = 0;
DOWNLINK_SEND_SONAR(DefaultChannel, DefaultDevice, &foo, &dist);
main_event();
}
#endif
if (nps_sensors_gps_available()) {
gps_feed_value();
main_event();
}
if (nps_bypass_ahrs) {
sim_overwrite_ahrs();
}
if (nps_bypass_ins) {
sim_overwrite_ins();
}
handle_periodic_tasks();
/* scale final motor commands to 0-1 for feeding the fdm */
for (uint8_t i = 0; i < NPS_COMMANDS_NB; i++) {
autopilot.commands[i] = (double)motor_mixing.commands[i] / MAX_PPRZ;
}
}
int main( void ) {
main_init();
while(1) {
handle_periodic_tasks();
main_event();
}
return 0;
}
void nps_autopilot_run_step(double time __attribute__ ((unused))) {
if (nps_radio_control_available(time)) {
radio_control_feed();
main_event();
}
if (nps_sensors_gyro_available()) {
imu_feed_gyro_accel();
main_event();
}
if (nps_sensors_mag_available()) {
imu_feed_mag();
main_event();
}
if (nps_sensors_baro_available()) {
baro_feed_value(sensors.baro.value);
main_event();
}
if (nps_sensors_gps_available()) {
gps_feed_value();
main_event();
}
if (nps_bypass_ahrs) {
sim_overwrite_ahrs();
}
handle_periodic_tasks();
/* scale final motor commands to 0-1 for feeding the fdm */
/* FIXME: autopilot.commands is of length NB_COMMANDS instead of number of motors */
for (uint8_t i=0; i<SUPERVISION_NB_MOTOR; i++)
autopilot.commands[i] = (double)(supervision.commands[i] - SUPERVISION_MIN_MOTOR) / SUPERVISION_MAX_MOTOR;
}
