mirror of https://github.com/ArduPilot/ardupilot
Plane: Remove unneeded wrapper functions
Also removes unneeded battery failsafe flag clearing
This commit is contained in:
parent
8ae6b2e026
commit
1c276e6af7
|
@ -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
|
||||||
*/
|
*/
|
||||||
|
|
|
@ -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);
|
||||||
|
|
Loading…
Reference in New Issue