[state interface] use state interface in rotorcraft firmware

paparazzi · Jul 12, 2012 · fc4bb0f · fc4bb0f
1 parent 7bc4ba3
commit fc4bb0f
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Showing 3 changed files with 8 additions and 0 deletions.
diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
@@ -198,6 +198,8 @@ endif
 
 ap.srcs += $(SRC_FIRMWARE)/autopilot.c
 
+ap.srcs += state.c
+
 ap.srcs += $(SRC_FIRMWARE)/stabilization.c
 ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
 ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c

diff --git a/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile b/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
@@ -107,6 +107,8 @@ nps.srcs   += subsystems/electrical.c
 
 nps.srcs += $(SRC_FIRMWARE)/autopilot.c
 
+nps.srcs += state.c
+
 #
 # in makefile section of airframe xml
 # include $(CFG_BOOZ)/subsystems/booz2_ahrs_lkf.makefile

diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
@@ -59,6 +59,8 @@
 #include "subsystems/ahrs.h"
 #include "subsystems/ins.h"
 
+#include "state.h"
+
 #include "firmwares/rotorcraft/main.h"
 
 #ifdef SITL
@@ -100,6 +102,8 @@ STATIC_INLINE void main_init( void ) {
 
   electrical_init();
 
+  stateInit();
+
   actuators_init();
   radio_control_init();