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Sub: move servo calc logic to motors_output() and cork SRV_Channels for improved performance

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This commit is contained in:
Willian Galvani 2024-06-21 20:15:16 -03:00
parent b0d89c6862
commit 2b60e93410
2 changed files with 4 additions and 3 deletions
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3
ArduSub/ArduSub.cpp
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@ -158,10 +158,7 @@ void Sub::fifty_hz_loop()
failsafe_sensors_check(); failsafe_sensors_check();
// Update rc input/output
rc().read_input(); rc().read_input();
SRV_Channels::calc_pwm();
SRV_Channels::output_ch_all();
} }
// update_batt_compass - read battery and compass // update_batt_compass - read battery and compass

4
ArduSub/motors.cpp
View File

@ -18,7 +18,11 @@ void Sub::motors_output()
verify_motor_test(); verify_motor_test();
} else { } else {
motors.set_interlock(true); motors.set_interlock(true);
SRV_Channels::cork();
SRV_Channels::calc_pwm();
SRV_Channels::output_ch_all();
motors.output(); motors.output();
SRV_Channels::push();
} }
} }