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Copter: remove scheduler table for 100hz CPUs 

We only support high performance CPUs capable of 400hz
This commit is contained in:
Randy Mackay 2015-04-20 11:15:58 +09:00
parent 5a45de5e00
commit 2dbff9c544
1 changed files with 0 additions and 75 deletions
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75
ArduCopter/ArduCopter.pde
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@ -701,7 +701,6 @@ static bool pre_arm_checks(bool display_failure);
// setup the var_info table
AP_Param param_loader(var_info);
#if MAIN_LOOP_RATE == 400
/*
scheduler table for fast CPUs - all regular tasks apart from the fast_loop()
should be listed here, along with how often they should be called
@ -778,80 +777,6 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ userhook_SuperSlowLoop,400, 10 },
#endif
};
#else
/*
scheduler table - all regular tasks apart from the fast_loop()
should be listed here, along with how often they should be called
(in 10ms units) and the maximum time they are expected to take (in
microseconds)
1 = 100hz
2 = 50hz
4 = 25hz
10 = 10hz
20 = 5hz
33 = 3hz
50 = 2hz
100 = 1hz
1000 = 0.1hz
*/
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ rc_loop, 1, 100 },
{ throttle_loop, 2, 450 },
{ update_GPS, 2, 900 },
#if OPTFLOW == ENABLED
{ update_optical_flow, 1, 100 },
#endif
{ update_batt_compass, 10, 720 },
{ read_aux_switches, 10, 50 },
{ arm_motors_check, 10, 10 },
{ auto_trim, 10, 140 },
{ update_altitude, 10, 1000 },
{ run_nav_updates, 4, 800 },
{ update_thr_average, 1, 50 },
{ three_hz_loop, 33, 90 },
{ compass_accumulate, 2, 420 },
{ barometer_accumulate, 2, 250 },
#if FRAME_CONFIG == HELI_FRAME
{ check_dynamic_flight, 2, 100 },
#endif
{ update_notify, 2, 100 },
{ one_hz_loop, 100, 420 },
{ ekf_check, 10, 20 },
{ crash_check, 10, 20 },
{ landinggear_update, 10, 10 },
{ gcs_check_input, 2, 550 },
{ gcs_send_heartbeat, 100, 150 },
{ gcs_send_deferred, 2, 720 },
{ gcs_data_stream_send, 2, 950 },
{ update_mount, 2, 450 },
{ ten_hz_logging_loop, 10, 300 },
{ fifty_hz_logging_loop, 2, 220 },
{ perf_update, 1000, 200 },
{ read_receiver_rssi, 10, 50 },
#if FRSKY_TELEM_ENABLED == ENABLED
{ frsky_telemetry_send, 20, 100 },
#endif
#if EPM_ENABLED == ENABLED
{ epm_update, 10, 20 },
#endif
#ifdef USERHOOK_FASTLOOP
{ userhook_FastLoop, 1, 100 },
#endif
#ifdef USERHOOK_50HZLOOP
{ userhook_50Hz, 2, 100 },
#endif
#ifdef USERHOOK_MEDIUMLOOP
{ userhook_MediumLoop, 10, 100 },
#endif
#ifdef USERHOOK_SLOWLOOP
{ userhook_SlowLoop, 30, 100 },
#endif
#ifdef USERHOOK_SUPERSLOWLOOP
{ userhook_SuperSlowLoop,100, 100 },
#endif
};
#endif
void setup()
{