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Rover: tweaks to new scheduler code

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Andrew Tridgell 2013-06-04 13:34:09 +10:00
parent 3c9d45d7d0
commit 07587222a3
2 changed files with 4 additions and 3 deletions
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5
APMrover2/APMrover2.pde
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@ -595,10 +595,10 @@ void loop()
// We want this to execute at 50Hz, but synchronised with the gyro/accel
uint16_t num_samples = ins.num_samples_available();
if (num_samples >= 1) {
delta_ms_fast_loop = millis() - fast_loopTimer;
delta_ms_fast_loop = timer - fast_loopTimer;
load = (float)(fast_loopTimeStamp - fast_loopTimer)/delta_ms_fast_loop;
G_Dt = (float)delta_ms_fast_loop / 1000.f;
fast_loopTimer = millis();
fast_loopTimer = timer;
mainLoop_count++;
@ -741,6 +741,7 @@ static void one_second_loop(void)
// cope with changes to aux functions
update_aux_servo_function(&g.rc_2, &g.rc_4, &g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
enable_aux_servos();
#if MOUNT == ENABLED
camera_mount.update_mount_type();

2
APMrover2/sensors.pde
View File

@ -36,7 +36,7 @@ static void read_battery(void)
batt_curr_pin->set_pin(g.battery_curr_pin);
current_amps1 = CURRENT_AMPS(batt_curr_pin);
// .0002778 is 1/3600 (conversion to hours)
current_total1 += current_amps1 * dt * 0.0002778;
current_total1 += current_amps1 * dt * 0.0002778f;
}
last_time_ms = tnow;
}