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Rover: call ins's periodic function

This commit is contained in:
Peter Barker 2017-10-04 11:12:49 +11:00 committed by Andrew Tridgell
parent c7216a2740
commit 2d0a23fcc8
2 changed files with 7 additions and 0 deletions
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6
APMrover2/APMrover2.cpp
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@ -77,6 +77,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(compass_cal_update, 50, 100),
SCHED_TASK(accel_cal_update, 10, 100),
SCHED_TASK(dataflash_periodic, 50, 300),
SCHED_TASK(ins_periodic, 50, 50),
SCHED_TASK(button_update, 5, 100),
SCHED_TASK(stats_update, 1, 100),
SCHED_TASK(crash_check, 10, 1000),
@ -363,6 +364,11 @@ void Rover::dataflash_periodic(void)
DataFlash.periodic_tasks();
}
void Rover::ins_periodic()
{
ins.periodic();
}
void Rover::update_GPS_50Hz(void)
{
static uint32_t last_gps_reading[GPS_MAX_INSTANCES];

1
APMrover2/Rover.h
View File

@ -576,6 +576,7 @@ public:
void failsafe_check();
void dataflash_periodic(void);
void ins_periodic();
void update_soft_armed();
// Motor test
void motor_test_output();