[paparazzi-commits] [4995] added time delay in main_init before hardware initialization to ensure proper startup

[Greg Horn]

Revision: 4995
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4995
Author:   ghorn
Date:     2010-06-21 19:42:45 +0000 (Mon, 21 Jun 2010)
Log Message:
-----------
added time delay in main_init before hardware initialization to ensure proper 
startup

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_asctec.c
    paparazzi3/trunk/sw/airborne/booz/booz2_main.c

Modified: paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_asctec.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_asctec.c 
2010-06-21 19:24:03 UTC (rev 4994)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_asctec.c 
2010-06-21 19:42:45 UTC (rev 4995)
@@ -114,8 +114,7 @@
 }
 #else /* ! ACTUATORS_ASCTEC_V2_PROTOCOL */
 void actuators_set(bool_t motors_on) {
-//  if (!cpu_time_sec) return; // FIXME
-  if (cpu_time_sec < 2) return; // FIXME
+  if (!cpu_time_sec) return; // FIXME
   supervision_run(motors_on, FALSE, booz2_commands);
 #ifdef KILL_MOTORS
   DeviceBuf[0] = 0;

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_main.c      2010-06-21 19:24:03 UTC 
(rev 4994)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_main.c      2010-06-21 19:42:45 UTC 
(rev 4995)
@@ -67,6 +67,7 @@
 #include "modules.h"
 #endif
 
+uint32_t startup_counter = 0;
 
 static inline void on_gyro_accel_event( void );
 static inline void on_baro_event( void );
@@ -92,6 +93,9 @@
 #endif
 
 STATIC_INLINE void booz2_main_init( void ) {
+  for (startup_counter=0; startup_counter<2000000; startup_counter++){
+  __asm("nop");
+  }
 
   hw_init();
   sys_time_init();