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Plane: use AP_Scheduler's loop() function

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Peter Barker 2017-11-13 18:22:07 +11:00 committed by Andrew Tridgell
parent 80a3d63264
commit 02540fdbf9
3 changed files with 15 additions and 41 deletions
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40
ArduPlane/ArduPlane.cpp
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@ -115,28 +115,8 @@ void Plane::setup()
void Plane::loop() void Plane::loop()
{ {
// wait for an INS sample scheduler.loop();
ins.wait_for_sample(); G_Dt = scheduler.last_loop_time;
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);
} }
void Plane::update_soft_armed() void Plane::update_soft_armed()
@ -361,20 +341,20 @@ void Plane::log_perf_info()
if (scheduler.debug() != 0) { if (scheduler.debug() != 0) {
gcs().send_text(MAV_SEVERITY_INFO, gcs().send_text(MAV_SEVERITY_INFO,
"PERF: %u/%u max=%lu min=%lu avg=%lu sd=%lu Log=%u", "PERF: %u/%u max=%lu min=%lu avg=%lu sd=%lu Log=%u",
(unsigned)perf_info.get_num_long_running(), (unsigned)scheduler.perf_info.get_num_long_running(),
(unsigned)perf_info.get_num_loops(), (unsigned)scheduler.perf_info.get_num_loops(),
(unsigned long)perf_info.get_max_time(), (unsigned long)scheduler.perf_info.get_max_time(),
(unsigned long)perf_info.get_min_time(), (unsigned long)scheduler.perf_info.get_min_time(),
(unsigned long)perf_info.get_avg_time(), (unsigned long)scheduler.perf_info.get_avg_time(),
(unsigned long)perf_info.get_stddev_time(), (unsigned long)scheduler.perf_info.get_stddev_time(),
(unsigned)(DataFlash.num_dropped() - perf_info.get_num_dropped())); (unsigned)(DataFlash.num_dropped() - scheduler.perf_info.get_num_dropped()));
} }
if (should_log(MASK_LOG_PM)) { if (should_log(MASK_LOG_PM)) {
Log_Write_Performance(); Log_Write_Performance();
} }
perf_info.reset(); scheduler.perf_info.reset();
} }
void Plane::compass_save() void Plane::compass_save()

10
ArduPlane/Log.cpp
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@ -72,11 +72,11 @@ void Plane::Log_Write_Performance()
struct log_Performance pkt = { struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG), LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
num_long : perf_info.get_num_long_running(), num_long : scheduler.perf_info.get_num_long_running(),
main_loop_count : perf_info.get_num_loops(), main_loop_count : scheduler.perf_info.get_num_loops(),
g_dt_max : perf_info.get_max_time(), g_dt_max : scheduler.perf_info.get_max_time(),
g_dt_min : perf_info.get_min_time(), g_dt_min : scheduler.perf_info.get_min_time(),
log_dropped : DataFlash.num_dropped() - perf_info.get_num_dropped(), log_dropped : DataFlash.num_dropped() - scheduler.perf_info.get_num_dropped(),
hal.util->available_memory() hal.util->available_memory()
}; };
last_log_dropped = dropped; last_log_dropped = dropped;

6
ArduPlane/Plane.h
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@ -737,12 +737,6 @@ private:
// loop performance monitoring: // loop performance monitoring:
AP::PerfInfo perf_info; AP::PerfInfo perf_info;
struct {
// System Timers
// Time in microseconds of start of main control loop
uint32_t fast_loopTimer_us;
} perf;
struct { struct {
uint32_t last_trim_check; uint32_t last_trim_check;
uint32_t last_trim_save; uint32_t last_trim_save;