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Adds call to ahrs_init() ans ahrs_update() under SECTION_IMU_ANALOG

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jpdumont
2005-08-23 19:41:24 +00:00
parent a09a1c0fba
commit 9ab6365c68
1 changed files with 22 additions and 0 deletions
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sw/airborne/autopilot/mainloop.c
+22
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@@ -40,6 +40,11 @@
#include "estimator.h"
#include "downlink.h"
#ifdef SECTION_IMU_ANALOG
#include "ahrs.h"
#endif //SECTION_IMU_ANALOG
/** \fn int main( void )
* \brief Main and @@@@@ unique @@@@@ function \n
*/
@@ -76,6 +81,11 @@ int main( void ) {
if (timer_periodic())
init_cpt--;
}
#ifdef SECTION_IMU_ANALOG
/** - ahrs init */
ahrs_init();
#endif //SECTION_IMU_ANALOG
/** - enter mainloop:
* - do periodic task by calling \a periodic_task
@@ -83,6 +93,7 @@ int main( void ) {
* - receive radio control task from fbw and use it with
* \a radio_control_task
*/
while( 1 ) {
if(timer_periodic())
/* do periodic task */
@@ -105,6 +116,17 @@ int main( void ) {
estimator_update_state_3DMG();
#endif
#ifdef SECTION_IMU_ANALOG
/** - ahrs update */
ahrs_update();
uart0_transmit('E');
uart0_transmit(' ');
uart0_print_hex16(euler[0]);
uart0_transmit(',');
uart0_print_hex16(euler[1]);
uart0_transmit(',');
uart0_print_hex16(euler[2]);
uart0_transmit('\t');
uart0_transmit('G');
uart0_transmit(' ');
uart0_print_hex16(from_fbw.euler_dot[0]);