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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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Prevent estimator tasks from running once at start up #1203

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8 changes: 6 additions & 2 deletions src/modules/src/estimator_kalman.c
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Original file line number Diff line number Diff line change
Expand Up @@ -94,6 +94,7 @@

#define DEBUG_MODULE "ESTKALMAN"
#include "debug.h"
#include "cfassert.h"


// #define KALMAN_USE_BARO_UPDATE
Expand Down Expand Up @@ -153,7 +154,7 @@ bool resetEstimation = false;
static kalmanCoreParams_t coreParams;

// Data used to enable the task and stabilizer loop to run with minimal locking
static state_t taskEstimatorState; // The estimator state produced by the task, copied to the stabilzer when needed.
static state_t taskEstimatorState; // The estimator state produced by the task, copied to the stabilizer when needed.

// Statistics
#define ONE_SECOND 1000
Expand Down Expand Up @@ -185,7 +186,10 @@ STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE(kalmanTask, KALMAN_TASK_STACKSIZE);
void estimatorKalmanTaskInit() {
kalmanCoreDefaultParams(&coreParams);

vSemaphoreCreateBinary(runTaskSemaphore);
// Created in the 'empty' state, meaning the semaphore must first be given, that is it will block in the task
// until released by the stabilizer loop
runTaskSemaphore = xSemaphoreCreateBinary();
ASSERT(runTaskSemaphore);

dataMutex = xSemaphoreCreateMutexStatic(&dataMutexBuffer);

Expand Down
5 changes: 4 additions & 1 deletion src/modules/src/estimator_ukf.c
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Expand Up @@ -241,7 +241,10 @@ STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE(errorUkfTask, ERROR_UKF_TASK_STACKSI
// Called one time during system startup
void errorEstimatorUkfTaskInit()
{
vSemaphoreCreateBinary(runTaskSemaphore);
// Created in the 'empty' state, meaning the semaphore must first be given, that is it will block in the task
// until released by the stabilizer loop
runTaskSemaphore = xSemaphoreCreateBinary();
ASSERT(runTaskSemaphore);

dataMutex = xSemaphoreCreateMutexStatic(&dataMutexBuffer);

Expand Down