add flag for initialisation

Demo_Crazyflie_IMU/DeploymentView.aadl

@@ -72,3 +72,4 @@ PROPERTIES
   Taste::HWLibraries => ("../../tool-inst/share/ocarina/AADLv2/ocarina_components.aadl");
 END deploymentview::DV;
 
+-- copied aadl libraries
\ No newline at end of file

Demo_Crazyflie_IMU/copter_imu/copter_imu.adb

@@ -29,6 +29,8 @@ package body copter_imu is
     Mag : Magnetometer_Data := (0.0, 0.0, 0.0);
     
     Self_Test_Passed : Boolean := False;
+    
+    Is_Init : Boolean := False;
 
 	---------------------------------------------------------
 	-- Provided interface "Pulse"
@@ -59,21 +61,25 @@ package body copter_imu is
     Acc_Z_Ptr : General_Acc_Pointer := taste_Acc_Z'Access; -- Read & write
 
 	begin
-
-        --  Magnetometer not used for the moment
-        IMU_9_Read (Gyro, Acc, Mag);
+	
+	    if Is_Init then
+	    
+           --  Magnetometer not used for the moment
+           IMU_9_Read (Gyro, Acc, Mag);
         
-        Gyro_X_Ptr.all := asn1sccMyGyroVal (Gyro.X);
-        Gyro_Y_Ptr.all := asn1sccMyGyroVal (Gyro.Y);
-        Gyro_Z_Ptr.all := asn1sccMyGyroVal (Gyro.Z);
+           Gyro_X_Ptr.all := asn1sccMyGyroVal (Gyro.X);
+           Gyro_Y_Ptr.all := asn1sccMyGyroVal (Gyro.Y);
+           Gyro_Z_Ptr.all := asn1sccMyGyroVal (Gyro.Z);
 
-        Acc_X_Ptr.all := asn1sccMyAccVal (Acc.X);
-        Acc_Y_Ptr.all := asn1sccMyAccVal (Acc.Y);
-        Acc_Z_Ptr.all := asn1sccMyAccVal (Acc.Z);
+           Acc_X_Ptr.all := asn1sccMyAccVal (Acc.X);
+           Acc_Y_Ptr.all := asn1sccMyAccVal (Acc.Y);
+           Acc_Z_Ptr.all := asn1sccMyAccVal (Acc.Z);
+
+           --  Then send IMU data to the ground
+           Get_IMU_Data(Gyro_X_Ptr, Gyro_Y_Ptr, Gyro_Z_Ptr, 
+                         Acc_X_Ptr, Acc_Y_Ptr, Acc_Z_Ptr);
+        end if;
 
-        --  Then send IMU data to the ground
-        Get_IMU_Data(Gyro_X_Ptr, Gyro_Y_Ptr, Gyro_Z_Ptr, 
-                      Acc_X_Ptr, Acc_Y_Ptr, Acc_Z_Ptr);
         
 	end Pulse;
 
@@ -85,6 +91,8 @@ package body copter_imu is
 
         --  See if we pass the self test
         Self_Test_Passed := System_Self_Test;
+
+        Is_Init := True;
         
         --  Start the main loop if the self test passed
         if Self_Test_Passed then