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Copter: adjust for new update entry points into GCS

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Peter Barker 2018-11-23 11:37:54 +11:00 committed by Randy Mackay
parent 7f5c0db949
commit 05f2e51b4d
2 changed files with 4 additions and 6 deletions
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5
ArduCopter/ArduCopter.cpp
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@ -135,10 +135,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(gpsglitch_check, 10, 50), SCHED_TASK(gpsglitch_check, 10, 50),
SCHED_TASK(landinggear_update, 10, 75), SCHED_TASK(landinggear_update, 10, 75),
SCHED_TASK(lost_vehicle_check, 10, 50), SCHED_TASK(lost_vehicle_check, 10, 50),
SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update, 400, 180), SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update_receive, 400, 180),
SCHED_TASK(gcs_send_heartbeat, 1, 110), SCHED_TASK(gcs_send_heartbeat, 1, 110),
SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, retry_deferred, 400, 550), SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update_send, 400, 550),
SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, data_stream_send, 400, 550),
#if MOUNT == ENABLED #if MOUNT == ENABLED
SCHED_TASK_CLASS(AP_Mount, &copter.camera_mount, update, 50, 75), SCHED_TASK_CLASS(AP_Mount, &copter.camera_mount, update, 50, 75),
#endif #endif

5
ArduCopter/GCS_Mavlink.cpp
View File

@ -1437,9 +1437,8 @@ void Copter::mavlink_delay_cb()
} }
if (tnow - last_50hz > 20) { if (tnow - last_50hz > 20) {
last_50hz = tnow; last_50hz = tnow;
gcs().update(); gcs().update_receive();
gcs().data_stream_send(); gcs().update_send();
gcs().retry_deferred();
notify.update(); notify.update();
} }
if (tnow - last_5s > 5000) { if (tnow - last_5s > 5000) {