Only do one INDI init call (#3034)

paparazzi · May 24, 2023 · a1a8704 · a1a8704
1 parent e7781e7
commit a1a8704
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Showing 3 changed files with 2 additions and 6 deletions.
diff --git a/conf/modules/stabilization_rate_indi.xml b/conf/modules/stabilization_rate_indi.xml
@@ -17,6 +17,5 @@
   <makefile target="ap|nps" firmware="rotorcraft">
     <file name="stabilization_rate_indi.c" dir="$(SRC_FIRMWARE)/stabilization"/>
     <define name="USE_STABILIZATION_RATE"/>
-    <define name="USE_STABILIZATION_RATE_INDI" value="true"/>
   </makefile>
 </module>
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c
@@ -34,10 +34,7 @@
 
 void stabilization_attitude_init(void)
 {
-  // Check if the indi init is already done for rate control
-#ifndef USE_STABILIZATION_RATE_INDI
-  stabilization_indi_init();
-#endif
+  // indi init is already done through module init
 }
 
 void stabilization_attitude_enter(void)

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.c
@@ -94,7 +94,7 @@ static void send_rate(struct transport_tx *trans, struct link_device *dev)
  */
 void stabilization_rate_init(void)
 {
-  stabilization_indi_init();
+  // indi init is already done through module init
 
 #if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_RATE_LOOP, send_rate);