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Copter: base loop time remaining on variable loop rate

This commit is contained in:
Peter Barker 2017-07-30 15:11:22 +10:00 committed by Randy Mackay
parent 8d0d4fe40a
commit 02a590024d
2 changed files with 3 additions and 3 deletions
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5
ArduCopter/ArduCopter.cpp
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@ -238,8 +238,9 @@ void Copter::loop()
// 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
uint32_t time_available = (timer + MAIN_LOOP_MICROS) - micros();
scheduler.run(time_available > MAIN_LOOP_MICROS ? 0u : time_available);
const uint32_t loop_us = scheduler.get_loop_period_us();
const uint32_t time_available = (timer + loop_us) - micros();
scheduler.run(time_available > loop_us ? 0u : time_available);
}

1
ArduCopter/config.h
View File

@ -51,7 +51,6 @@
// run at 400Hz on all systems
# define MAIN_LOOP_RATE 400
# define MAIN_LOOP_SECONDS 0.0025f
# define MAIN_LOOP_MICROS 2500
#ifndef ARMING_DELAY_SEC
# define ARMING_DELAY_SEC 2.0f