[paparazzi-commits] [4247] Add fixed wing micromag to main_ap.c

[Martin Mueller]

Revision: 4247
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4247
Author:   mmm
Date:     2009-10-12 12:13:43 +0000 (Mon, 12 Oct 2009)
Log Message:
-----------
Add fixed wing micromag to main_ap.c

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/main_ap.c

Modified: paparazzi3/trunk/sw/airborne/main_ap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/main_ap.c      2009-10-12 12:00:26 UTC (rev 
4246)
+++ paparazzi3/trunk/sw/airborne/main_ap.c      2009-10-12 12:13:43 UTC (rev 
4247)
@@ -127,6 +127,10 @@
 #include "usb_serial.h"
 #endif
 
+#ifdef USE_MICROMAG_FW
+#include "micromag_fw.h"
+#endif
+
 #ifdef USE_AIRSPEED_ETS
 #include "airspeed_ets.h"
 #endif // USE_AIRSPEED_ETS
@@ -571,6 +575,10 @@
     /*  default: */
   }
 
+#ifdef USE_MICROMAG_FW
+    micromag_periodic();
+#endif
+
 #ifndef CONTROL_RATE
 #define CONTROL_RATE 20
 #endif
@@ -757,6 +765,11 @@
 #endif
   nav_init();
 
+#ifdef USE_MICROMAG_FW
+  micromag_init_ssp();
+  micromag_init();
+#endif
+
   /** - start interrupt task */
   int_enable();
 
@@ -935,6 +948,16 @@
   }
 #endif
 
+#ifdef USE_MICROMAG_FW
+  if (micromag_status == MM_DATA_AVAILABLE) {
+    DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
+                &micromag_values[0],
+                &micromag_values[1],
+                &micromag_values[2] );
+    micromag_status = MM_IDLE;
+  }
+#endif
+
   if (inter_mcu_received_fbw) {
     /* receive radio control task from fbw */
     inter_mcu_received_fbw = FALSE;