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Prevent estimator tasks from running once at start up #1203

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merged 1 commit into from
Jan 25, 2023

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The Kalman and the UKF estimators uses tasks to manage the work load. At the top of the task loop there is a semaphore that blocks the task until the stabilizer loop release it. In the current implementation the semaphore is initialized as "non empty" which means that the task will run once when started, even if the estimator is not active. This caused problems after #1194 as the initialization sequence is chganged.

This PR changes the bahvior and prevents the estimator tasks to run until initialized and activated
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@krichardsson krichardsson changed the title Prevent estimator tasks to run once at start up Prevent estimator tasks from running once at start up Jan 25, 2023
@krichardsson krichardsson merged commit c298873 into master Jan 25, 2023
@krichardsson krichardsson deleted the krichardsson/fix-estimator-task branch January 25, 2023 12:32
@krichardsson krichardsson added this to the 2023.02 milestone Feb 21, 2023
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2 participants