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purple: added new parameters needed for new library APIs

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new APIs pass in timer_scheduler. We also to init the isr_registry
This commit is contained in:
Pat Hickey 2011-11-13 15:10:30 +11:00
parent 5626f4a127
commit fefc7da1d1
1 changed files with 15 additions and 2 deletions
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17
ArduPlane/system.pde
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@ -82,6 +82,17 @@ static void init_ardupilot()
"\n\nFree RAM: %u\n"),
memcheck_available_memory());
//
// Initialize the ISR registry.
//
isr_registry.init();
//
// Initialize the timer scheduler to use the ISR registry.
//
timer_scheduler.init( & isr_registry );
//
// Check the EEPROM format version before loading any parameters from EEPROM.
//
@ -183,6 +194,8 @@ static void init_ardupilot()
mavlink_system.type = MAV_FIXED_WING;
rc_override_active = APM_RC.setHIL(rc_override); // Set initial values for no override
RC_Channel::set_apm_rc( &APM_RC ); // Provide reference to RC outputs.
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
@ -230,7 +243,7 @@ static void init_ardupilot()
//----------------
//read_EEPROM_airstart_critical();
#if HIL_MODE != HIL_MODE_ATTITUDE
imu.init(IMU::WARM_START);
imu.init(IMU::WARM_START, mavlink_delay, &timer_scheduler);
dcm.set_centripetal(1);
#endif
@ -424,7 +437,7 @@ static void startup_IMU_ground(void)
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning IMU calibration; do not move plane"));
mavlink_delay(1000);
imu.init(IMU::COLD_START, mavlink_delay);
imu.init(IMU::COLD_START, mavlink_delay, &timer_scheduler);
dcm.set_centripetal(1);
// read Baro pressure at ground