Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: Remove unneeded wrapper functions 

Also removes unneeded battery failsafe flag clearing
This commit is contained in:
Michael du Breuil 2018-06-26 14:47:03 -07:00 committed by Andrew Tridgell
parent 8ae6b2e026
commit 1c276e6af7
2 changed files with 13 additions and 72 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

78
ArduPlane/ArduPlane.cpp
View File

@ -54,7 +54,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(update_events, 50, 150), SCHED_TASK(update_events, 50, 150),
SCHED_TASK_CLASS(AP_BattMonitor, &plane.battery, read, 10, 300), SCHED_TASK_CLASS(AP_BattMonitor, &plane.battery, read, 10, 300),
SCHED_TASK(compass_accumulate, 50, 200), SCHED_TASK(compass_accumulate, 50, 200),
SCHED_TASK(barometer_accumulate, 50, 150), SCHED_TASK_CLASS(AP_Baro, &plane.barometer, accumulate, 50, 150),
SCHED_TASK(update_notify, 50, 300), SCHED_TASK(update_notify, 50, 300),
SCHED_TASK(read_rangefinder, 50, 100), SCHED_TASK(read_rangefinder, 50, 100),
SCHED_TASK(ice_update, 10, 100), SCHED_TASK(ice_update, 10, 100),
@ -67,8 +67,12 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(check_long_failsafe, 3, 400), SCHED_TASK(check_long_failsafe, 3, 400),
SCHED_TASK(rpm_update, 10, 100), SCHED_TASK(rpm_update, 10, 100),
SCHED_TASK(airspeed_ratio_update, 1, 100), SCHED_TASK(airspeed_ratio_update, 1, 100),
SCHED_TASK(update_mount, 50, 100), #if MOUNT == ENABLED
SCHED_TASK(update_trigger, 50, 100), SCHED_TASK_CLASS(AP_Mount, &plane.camera_mount, update, 50, 100),
#endif // MOUNT == ENABLED
#if CAMERA == ENABLED
SCHED_TASK_CLASS(AP_Camera, &plane.camera, update_trigger, 50, 100),
#endif // CAMERA == ENABLED
SCHED_TASK_CLASS(AP_Scheduler, &plane.scheduler, update_logging, 0.2, 100), SCHED_TASK_CLASS(AP_Scheduler, &plane.scheduler, update_logging, 0.2, 100),
SCHED_TASK(compass_save, 0.1, 200), SCHED_TASK(compass_save, 0.1, 200),
SCHED_TASK(Log_Write_Fast, 25, 300), SCHED_TASK(Log_Write_Fast, 25, 300),
@ -76,16 +80,18 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(update_logging2, 25, 300), SCHED_TASK(update_logging2, 25, 300),
SCHED_TASK(update_soaring, 50, 400), SCHED_TASK(update_soaring, 50, 400),
SCHED_TASK(parachute_check, 10, 200), SCHED_TASK(parachute_check, 10, 200),
SCHED_TASK(terrain_update, 10, 200), #if AP_TERRAIN_AVAILABLE
SCHED_TASK_CLASS(AP_Terrain, &plane.terrain, update, 10, 200),
#endif // AP_TERRAIN_AVAILABLE
SCHED_TASK(update_is_flying_5Hz, 5, 100), SCHED_TASK(update_is_flying_5Hz, 5, 100),
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
SCHED_TASK(dataflash_periodic, 50, 400), SCHED_TASK_CLASS(DataFlash_Class, &plane.DataFlash, periodic_tasks, 50, 400),
#endif #endif
SCHED_TASK(ins_periodic, 50, 50), SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins, periodic, 50, 50),
SCHED_TASK(avoidance_adsb_update, 10, 100), SCHED_TASK(avoidance_adsb_update, 10, 100),
SCHED_TASK(button_update, 5, 100), SCHED_TASK(button_update, 5, 100),
#if STATS_ENABLED == ENABLED #if STATS_ENABLED == ENABLED
SCHED_TASK(stats_update, 1, 100), SCHED_TASK_CLASS(AP_Stats, &plane.g2.stats, update, 1, 100),
#endif #endif
#if GRIPPER_ENABLED == ENABLED #if GRIPPER_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75), SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75),
@ -94,23 +100,11 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
constexpr int8_t Plane::_failsafe_priorities[5]; constexpr int8_t Plane::_failsafe_priorities[5];
#if STATS_ENABLED == ENABLED
/*
update AP_Stats
*/
void Plane::stats_update(void)
{
g2.stats.update();
}
#endif
void Plane::setup() void Plane::setup()
{ {
// load the default values of variables listed in var_info[] // load the default values of variables listed in var_info[]
AP_Param::setup_sketch_defaults(); AP_Param::setup_sketch_defaults();
AP_Notify::flags.failsafe_battery = false;
rssi.init(); rssi.init();
init_ardupilot(); init_ardupilot();
@ -183,26 +177,6 @@ void Plane::update_speed_height(void)
} }
/*
update camera mount
*/
void Plane::update_mount(void)
{
#if MOUNT == ENABLED
camera_mount.update();
#endif
}
/*
update camera trigger
*/
void Plane::update_trigger(void)
{
#if CAMERA == ENABLED
camera.update_trigger();
#endif
}
/* /*
read and update compass read and update compass
*/ */
@ -226,14 +200,6 @@ void Plane::compass_accumulate(void)
} }
} }
/*
try to accumulate a baro reading
*/
void Plane::barometer_accumulate(void)
{
barometer.accumulate();
}
/* /*
do 10Hz logging do 10Hz logging
*/ */
@ -355,24 +321,6 @@ void Plane::compass_save()
} }
} }
void Plane::terrain_update(void)
{
#if AP_TERRAIN_AVAILABLE
terrain.update();
#endif
}
void Plane::ins_periodic(void)
{
ins.periodic();
}
void Plane::dataflash_periodic(void)
{
DataFlash.periodic_tasks();
}
/* /*
once a second update the airspeed calibration ratio once a second update the airspeed calibration ratio
*/ */

7
ArduPlane/Plane.h
View File

@ -912,7 +912,6 @@ private:
void read_airspeed(void); void read_airspeed(void);
void rpm_update(void); void rpm_update(void);
void button_update(void); void button_update(void);
void stats_update();
void ice_update(void); void ice_update(void);
void init_ardupilot(); void init_ardupilot();
void startup_ground(void); void startup_ground(void);
@ -943,16 +942,12 @@ private:
void afs_fs_check(void); void afs_fs_check(void);
void compass_accumulate(void); void compass_accumulate(void);
void compass_cal_update(); void compass_cal_update();
void barometer_accumulate(void);
void update_optical_flow(void); void update_optical_flow(void);
void one_second_loop(void); void one_second_loop(void);
void airspeed_ratio_update(void); void airspeed_ratio_update(void);
void update_mount(void);
void update_trigger(void);
void compass_save(void); void compass_save(void);
void update_logging1(void); void update_logging1(void);
void update_logging2(void); void update_logging2(void);
void terrain_update(void);
void avoidance_adsb_update(void); void avoidance_adsb_update(void);
void update_flight_mode(void); void update_flight_mode(void);
void stabilize(); void stabilize();
@ -1025,8 +1020,6 @@ private:
void notify_flight_mode(enum FlightMode mode); void notify_flight_mode(enum FlightMode mode);
void log_init(); void log_init();
void init_capabilities(void); void init_capabilities(void);
void ins_periodic();
void dataflash_periodic(void);
void parachute_check(); void parachute_check();
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED
void do_parachute(const AP_Mission::Mission_Command& cmd); void do_parachute(const AP_Mission::Mission_Command& cmd);