From 02540fdbf9a0382803aeb7be558ba60b8e6389f0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 13 Nov 2017 18:22:07 +1100
Subject: [PATCH] Plane: use AP_Scheduler's loop() function

---
 ArduPlane/ArduPlane.cpp | 40 ++++++++++------------------------------
 ArduPlane/Log.cpp       | 10 +++++-----
 ArduPlane/Plane.h       |  6 ------
 3 files changed, 15 insertions(+), 41 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 8e707a9cc7..76404b1e68 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -115,28 +115,8 @@ void Plane::setup()
 
 void Plane::loop()
 {
-    // wait for an INS sample
-    ins.wait_for_sample();
-
-    uint32_t timer = micros();
-
-    // check loop time
-    perf_info.check_loop_time(timer - perf.fast_loopTimer_us);
-
-    G_Dt                     = (timer - perf.fast_loopTimer_us) * 1.0e-6f;
-    perf.fast_loopTimer_us   = timer;
-
-    // tell the scheduler one tick has passed
-    scheduler.tick();
-
-    // run all the tasks that are due to run. Note that we only
-    // have to call this once per loop, as the tasks are scheduled
-    // in multiples of the main loop tick. So if they don't run on
-    // the first call to the scheduler they won't run on a later
-    // call until scheduler.tick() is called again
-    const uint32_t loop_us = scheduler.get_loop_period_us();
-    const uint32_t time_available = (timer + loop_us) - micros();
-    scheduler.run(time_available);
+    scheduler.loop();
+    G_Dt = scheduler.last_loop_time;
 }
 
 void Plane::update_soft_armed()
@@ -361,20 +341,20 @@ void Plane::log_perf_info()
     if (scheduler.debug() != 0) {
         gcs().send_text(MAV_SEVERITY_INFO,
                         "PERF: %u/%u max=%lu min=%lu avg=%lu sd=%lu Log=%u",
-                        (unsigned)perf_info.get_num_long_running(),
-                        (unsigned)perf_info.get_num_loops(),
-                        (unsigned long)perf_info.get_max_time(),
-                        (unsigned long)perf_info.get_min_time(),
-                        (unsigned long)perf_info.get_avg_time(),
-                        (unsigned long)perf_info.get_stddev_time(),
-                        (unsigned)(DataFlash.num_dropped() - perf_info.get_num_dropped()));
+                        (unsigned)scheduler.perf_info.get_num_long_running(),
+                        (unsigned)scheduler.perf_info.get_num_loops(),
+                        (unsigned long)scheduler.perf_info.get_max_time(),
+                        (unsigned long)scheduler.perf_info.get_min_time(),
+                        (unsigned long)scheduler.perf_info.get_avg_time(),
+                        (unsigned long)scheduler.perf_info.get_stddev_time(),
+                        (unsigned)(DataFlash.num_dropped() - scheduler.perf_info.get_num_dropped()));
     }
 
     if (should_log(MASK_LOG_PM)) {
         Log_Write_Performance();
     }
 
-    perf_info.reset();
+    scheduler.perf_info.reset();
 }
 
 void Plane::compass_save()
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 197287ead4..99beb1f49c 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -72,11 +72,11 @@ void Plane::Log_Write_Performance()
     struct log_Performance pkt = {
         LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
         time_us         : AP_HAL::micros64(),
-        num_long        : perf_info.get_num_long_running(),
-        main_loop_count : perf_info.get_num_loops(),
-        g_dt_max        : perf_info.get_max_time(),
-        g_dt_min        : perf_info.get_min_time(),
-        log_dropped     : DataFlash.num_dropped() - perf_info.get_num_dropped(),
+        num_long        : scheduler.perf_info.get_num_long_running(),
+        main_loop_count : scheduler.perf_info.get_num_loops(),
+        g_dt_max        : scheduler.perf_info.get_max_time(),
+        g_dt_min        : scheduler.perf_info.get_min_time(),
+        log_dropped     : DataFlash.num_dropped() - scheduler.perf_info.get_num_dropped(),
         hal.util->available_memory()
     };
     last_log_dropped = dropped;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 25eacc862a..c3cbf45826 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -737,12 +737,6 @@ private:
 
     // loop performance monitoring:
     AP::PerfInfo perf_info;
-    struct {
-        // System Timers
-        // Time in microseconds of start of main control loop
-        uint32_t fast_loopTimer_us;
-    } perf;
-
     struct {
         uint32_t last_trim_check;
         uint32_t last_trim_save;