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Copter: fast attitude logging should be at loop rate

This commit is contained in:
Andy Piper 2022-08-06 16:34:55 +01:00 committed by Randy Mackay
parent a34ff49bac
commit 1c8d206dfb
2 changed files with 4 additions and 4 deletions
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6
ArduCopter/Copter.cpp
View File

@ -182,7 +182,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(check_dynamic_flight, 50, 75, 72),
#endif
#if LOGGING_ENABLED == ENABLED
SCHED_TASK(fourhundred_hz_logging,400, 50, 75),
SCHED_TASK(loop_rate_logging, LOOP_RATE, 50, 75),
#endif
SCHED_TASK_CLASS(AP_Notify, &copter.notify, update, 50, 90, 78),
SCHED_TASK(one_hz_loop, 1, 100, 81),
@ -485,8 +485,8 @@ void Copter::update_batt_compass(void)
}
// Full rate logging of attitude, rate and pid loops
// should be run at 400hz
void Copter::fourhundred_hz_logging()
// should be run at loop rate
void Copter::loop_rate_logging()
{
if (should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
Log_Write_Attitude();

2
ArduCopter/Copter.h
View File

@ -663,7 +663,7 @@ private:
void rc_loop();
void throttle_loop();
void update_batt_compass(void);
void fourhundred_hz_logging();
void loop_rate_logging();
void ten_hz_logging_loop();
void twentyfive_hz_logging();
void three_hz_loop();