Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 17:38:32 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: use barometer.accumulate()

Browse Source 
this gives us more consistent timing and faster baro reads on APM1
This commit is contained in:
Andrew Tridgell 2013-01-09 23:08:19 +11:00
parent 91ad870f11
commit 269804e866
1 changed files with 18 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
ArduCopter/ArduCopter.pde
View File

@ -944,6 +944,14 @@ static void compass_accumulate(void)
} }
} }
/*
try to accumulate a baro reading
*/
static void barometer_accumulate(void)
{
barometer.accumulate();
}
// enable this to get console logging of scheduler performance // enable this to get console logging of scheduler performance
#define SCHEDULER_DEBUG 0 #define SCHEDULER_DEBUG 0
@ -981,7 +989,7 @@ struct timer_event_table {
uint16_t min_time_usec; uint16_t min_time_usec;
}; };
#define NUM_TIMER_EVENTS 14 #define NUM_TIMER_EVENTS 15
/* /*
scheduler table - all regular events apart from the fast_loop() scheduler table - all regular events apart from the fast_loop()
@ -989,18 +997,19 @@ struct timer_event_table {
(in 10ms units) and the maximum time they are expected to take (in 10ms units) and the maximum time they are expected to take
*/ */
static const struct timer_event_table PROGMEM timer_events[NUM_TIMER_EVENTS] = { static const struct timer_event_table PROGMEM timer_events[NUM_TIMER_EVENTS] = {
{ update_GPS, 2, 900 }, { update_GPS, 2, 900 },
{ update_navigation, 2, 500 }, { update_navigation, 2, 500 },
{ medium_loop, 2, 700 }, { medium_loop, 2, 700 },
{ update_altitude_est, 2, 900 }, { update_altitude_est, 2, 900 },
{ fifty_hz_loop, 2, 800 }, { fifty_hz_loop, 2, 950 },
{ run_nav_updates, 2, 500 }, { run_nav_updates, 2, 500 },
{ slow_loop, 10, 500 }, { slow_loop, 10, 500 },
{ gcs_check_input, 2, 700 }, { gcs_check_input, 2, 700 },
{ gcs_send_heartbeat, 100, 700 }, { gcs_send_heartbeat, 100, 700 },
{ gcs_data_stream_send, 2, 1100 }, { gcs_data_stream_send, 2, 1100 },
{ gcs_send_deferred, 2, 700 }, { gcs_send_deferred, 2, 1000 },
{ compass_accumulate, 2, 600 }, { compass_accumulate, 2, 700 },
{ barometer_accumulate, 1, 900 },
{ super_slow_loop, 100, 1100 }, { super_slow_loop, 100, 1100 },
{ perf_update, 1000, 500 } { perf_update, 1000, 500 }
}; };
@ -1044,7 +1053,7 @@ static void run_events(uint16_t time_available_usec)
// work out how long the event actually took // work out how long the event actually took
uint32_t time_taken = micros() - event_time_started; uint32_t time_taken = micros() - event_time_started;
if (time_taken > event_time_allowed) { if (time_taken > event_time_allowed+500) {
// the event overran! // the event overran!
#if SCHEDULER_DEBUG #if SCHEDULER_DEBUG
cliSerial->printf_P(PSTR("overrun in event %u (%u/%u)\n"), cliSerial->printf_P(PSTR("overrun in event %u (%u/%u)\n"),
@ -1068,10 +1077,6 @@ void loop()
// ---------------------------- // ----------------------------
if (ins.num_samples_available() >= 2) { if (ins.num_samples_available() >= 2) {
#if DEBUG_FAST_LOOP == ENABLED
Log_Write_Data(DATA_FAST_LOOP, (int32_t)(timer - fast_loopTimer));
#endif
// check loop time // check loop time
perf_info_check_loop_time(timer - fast_loopTimer); perf_info_check_loop_time(timer - fast_loopTimer);
@ -1308,6 +1313,7 @@ static void fifty_hz_loop()
if (g.log_bitmask & MASK_LOG_RAW && motors.armed()) if (g.log_bitmask & MASK_LOG_RAW && motors.armed())
Log_Write_Raw(); Log_Write_Raw();
#endif #endif
} }
@ -2180,7 +2186,7 @@ static void update_altitude_est()
if(ap_system.alt_sensor_flag) { if(ap_system.alt_sensor_flag) {
ap_system.alt_sensor_flag = false; ap_system.alt_sensor_flag = false;
update_altitude(); update_altitude();
if(g.log_bitmask & MASK_LOG_CTUN && motors.armed()) { if ((g.log_bitmask & MASK_LOG_CTUN) && motors.armed()) {
Log_Write_Control_Tuning(); Log_Write_Control_Tuning();
} }
} }
@ -2189,7 +2195,7 @@ static void update_altitude_est()
update_altitude(); update_altitude();
ap_system.alt_sensor_flag = false; ap_system.alt_sensor_flag = false;
if(g.log_bitmask & MASK_LOG_CTUN && motors.armed()) { if ((g.log_bitmask & MASK_LOG_CTUN) && motors.armed()) {
Log_Write_Control_Tuning(); Log_Write_Control_Tuning();
} }
}else{ }else{