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Plane: added FAST_TASK() for key scheduler tasks 

this will be needed with #22298 as that now relies on integrating
position based on loop times
This commit is contained in:
Andrew Tridgell 2022-12-06 09:01:34 +11:00
parent 81b519056b
commit 289f76ac9c
1 changed files with 7 additions and 4 deletions
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11
ArduPlane/ArduPlane.cpp
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@ -23,6 +23,7 @@
#include "Plane.h" #include "Plane.h"
#define SCHED_TASK(func, rate_hz, max_time_micros, priority) SCHED_TASK_CLASS(Plane, &plane, func, rate_hz, max_time_micros, priority) #define SCHED_TASK(func, rate_hz, max_time_micros, priority) SCHED_TASK_CLASS(Plane, &plane, func, rate_hz, max_time_micros, priority)
#define FAST_TASK(func) FAST_TASK_CLASS(Plane, &plane, func)
/* /*
@ -49,16 +50,18 @@ SCHED_TASK_CLASS arguments:
- expected time (in MicroSeconds) that the method should take to run - expected time (in MicroSeconds) that the method should take to run
- priority (0 through 255, lower number meaning higher priority) - priority (0 through 255, lower number meaning higher priority)
FAST_TASK entries are run on every loop even if that means the loop
overruns its allotted time
*/ */
const AP_Scheduler::Task Plane::scheduler_tasks[] = { const AP_Scheduler::Task Plane::scheduler_tasks[] = {
// Units: Hz us // Units: Hz us
SCHED_TASK(ahrs_update, 400, 400, 3), FAST_TASK(ahrs_update),
FAST_TASK(update_control_mode),
FAST_TASK(stabilize),
FAST_TASK(set_servos),
SCHED_TASK(read_radio, 50, 100, 6), SCHED_TASK(read_radio, 50, 100, 6),
SCHED_TASK(check_short_failsafe, 50, 100, 9), SCHED_TASK(check_short_failsafe, 50, 100, 9),
SCHED_TASK(update_speed_height, 50, 200, 12), SCHED_TASK(update_speed_height, 50, 200, 12),
SCHED_TASK(update_control_mode, 400, 100, 15),
SCHED_TASK(stabilize, 400, 100, 18),
SCHED_TASK(set_servos, 400, 100, 21),
SCHED_TASK(update_throttle_hover, 100, 90, 24), SCHED_TASK(update_throttle_hover, 100, 90, 24),
SCHED_TASK(read_control_switch, 7, 100, 27), SCHED_TASK(read_control_switch, 7, 100, 27),
SCHED_TASK(update_GPS_50Hz, 50, 300, 30), SCHED_TASK(update_GPS_50Hz, 50, 300, 30),