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APMrover2: use designated initializers for tasks structs

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Makes code less prone to break build and semantics (e.g., when a new field is
added).
This commit is contained in:
Gustavo Jose de Sousa 2015-07-28 11:02:31 -03:00 committed by Andrew Tridgell
parent a3d7156f28
commit 30ffd0cbd2
1 changed files with 32 additions and 29 deletions
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61
APMrover2/APMrover2.cpp
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@ -37,7 +37,10 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
Rover rover;
#define SCHED_TASK(func) FUNCTOR_BIND(&rover, &Rover::func, void)
#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\
.function = FUNCTOR_BIND(&rover, &Rover::func, void),\
.interval_ticks = _interval_ticks,\
.max_time_micros = _max_time_micros}
/*
scheduler table - all regular tasks should be listed here, along
@ -45,35 +48,35 @@ Rover rover;
time they are expected to take (in microseconds)
*/
const AP_Scheduler::Task Rover::scheduler_tasks[] PROGMEM = {
{ SCHED_TASK(read_radio), 1, 1000 },
{ SCHED_TASK(ahrs_update), 1, 6400 },
{ SCHED_TASK(read_sonars), 1, 2000 },
{ SCHED_TASK(update_current_mode), 1, 1500 },
{ SCHED_TASK(set_servos), 1, 1500 },
{ SCHED_TASK(update_GPS_50Hz), 1, 2500 },
{ SCHED_TASK(update_GPS_10Hz), 5, 2500 },
{ SCHED_TASK(update_alt), 5, 3400 },
{ SCHED_TASK(navigate), 5, 1600 },
{ SCHED_TASK(update_compass), 5, 2000 },
{ SCHED_TASK(update_commands), 5, 1000 },
{ SCHED_TASK(update_logging1), 5, 1000 },
{ SCHED_TASK(update_logging2), 5, 1000 },
{ SCHED_TASK(gcs_retry_deferred), 1, 1000 },
{ SCHED_TASK(gcs_update), 1, 1700 },
{ SCHED_TASK(gcs_data_stream_send), 1, 3000 },
{ SCHED_TASK(read_control_switch), 7, 1000 },
{ SCHED_TASK(read_trim_switch), 5, 1000 },
{ SCHED_TASK(read_battery), 5, 1000 },
{ SCHED_TASK(read_receiver_rssi), 5, 1000 },
{ SCHED_TASK(update_events), 1, 1000 },
{ SCHED_TASK(check_usb_mux), 15, 1000 },
{ SCHED_TASK(mount_update), 1, 600 },
{ SCHED_TASK(gcs_failsafe_check), 5, 600 },
{ SCHED_TASK(compass_accumulate), 1, 900 },
{ SCHED_TASK(update_notify), 1, 300 },
{ SCHED_TASK(one_second_loop), 50, 3000 },
SCHED_TASK(read_radio, 1, 1000),
SCHED_TASK(ahrs_update, 1, 6400),
SCHED_TASK(read_sonars, 1, 2000),
SCHED_TASK(update_current_mode, 1, 1500),
SCHED_TASK(set_servos, 1, 1500),
SCHED_TASK(update_GPS_50Hz, 1, 2500),
SCHED_TASK(update_GPS_10Hz, 5, 2500),
SCHED_TASK(update_alt, 5, 3400),
SCHED_TASK(navigate, 5, 1600),
SCHED_TASK(update_compass, 5, 2000),
SCHED_TASK(update_commands, 5, 1000),
SCHED_TASK(update_logging1, 5, 1000),
SCHED_TASK(update_logging2, 5, 1000),
SCHED_TASK(gcs_retry_deferred, 1, 1000),
SCHED_TASK(gcs_update, 1, 1700),
SCHED_TASK(gcs_data_stream_send, 1, 3000),
SCHED_TASK(read_control_switch, 7, 1000),
SCHED_TASK(read_trim_switch, 5, 1000),
SCHED_TASK(read_battery, 5, 1000),
SCHED_TASK(read_receiver_rssi, 5, 1000),
SCHED_TASK(update_events, 1, 1000),
SCHED_TASK(check_usb_mux, 15, 1000),
SCHED_TASK(mount_update, 1, 600),
SCHED_TASK(gcs_failsafe_check, 5, 600),
SCHED_TASK(compass_accumulate, 1, 900),
SCHED_TASK(update_notify, 1, 300),
SCHED_TASK(one_second_loop, 50, 3000),
#if FRSKY_TELEM_ENABLED == ENABLED
{ SCHED_TASK(frsky_telemetry_send), 10, 100 }
SCHED_TASK(frsky_telemetry_send, 10, 100),
#endif
};