Diff: UAVXArm.c

Revision:

1:1e3318a30ddd

Parent:

0:62a1c91a859a

Child:

2:90292f8bd179

--- a/UAVXArm.c	Fri Feb 18 22:28:05 2011 +0000
+++ b/UAVXArm.c	Fri Feb 25 01:35:24 2011 +0000
@@ -22,21 +22,15 @@
 
 volatile Flags     F;
 
-uint32 T1;
-
-boolean OK;
-uint8 ch;
-
 int main(void) {
 
     InitMisc();
     InitHarness();
- 
+
     InitRC();
     InitTimersAndInterrupts();
-    GreenLED = 1;
     InitLEDs();
-        
+            
     InitParameters();
     ReadStatsPX();
     InitMotors();
@@ -46,6 +40,7 @@
     InitAccelerometers();
     InitGyros();
     InitIRSensors();
+ 
     InitCompass();
     InitRangefinder();
 
@@ -56,7 +51,7 @@
     InitBarometer();
 
     ShowSetup(true);
-    
+
     I2C0.frequency(MinI2CRate);
 
     FirstPass = true;
@@ -65,6 +60,9 @@
         StopMotors();
 
         LightsAndSirens();    // Check for Rx signal, disarmed on power up, throttle closed, gyros ONLINE
+        
+        GetAttitude();
+        MixAndLimitCam();
 
         State = Starting;
         F.FirstArmed = false;
@@ -98,8 +96,7 @@
                         ZeroStats();
                         DoStartingBeeps(3);
                         
-                        SendParamPacket(0);
-                        SendParamPacket(1);
+                        SendParameters(ParamSet);
 
                         mS[ArmedTimeout] = mSClock() + ARMED_TIMEOUT_MS;
                         mS[RxFailsafeTimeout] = mSClock() + RC_NO_CHANGE_TIMEOUT_MS;
@@ -176,10 +173,11 @@
             DoControl();
 
             MixAndLimitMotors();
+            OutSignals();
+            
             MixAndLimitCam();
-            OutSignals();
-// zzz??? need to do some minor scheduling here with housekeeping
-            GetTemperature();
+            
+            GetTemperature();  
             GetBattery();
             CheckAlarms();
             CheckTelemetry();