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Plane: moved fast_loop() into main scheduler table

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This commit is contained in:
Andrew Tridgell 2013-10-15 09:52:23 +11:00
parent cb7303780f
commit 4239498b62
2 changed files with 32 additions and 38 deletions
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61
ArduPlane/ArduPlane.pde
View File

@ -692,34 +692,37 @@ AP_Mount camera_mount2(&current_loc, g_gps, ahrs, 1);
////////////////////////////////////////////////////////////////////////////////
/*
scheduler table - all regular tasks apart from the fast_loop()
should be listed here, along with how often they should be called
(in 20ms units) and the maximum time they are expected to take (in
microseconds)
scheduler table - all regular tasks are listed here, along with how
often they should be called (in 20ms units) and the maximum time
they are expected to take (in microseconds)
*/
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ update_speed_height, 1, 900 }, // 0
{ update_flight_mode, 1, 1000 },
{ stabilize, 1, 3200 },
{ set_servos, 1, 1100 },
{ read_radio, 1, 700 }, // 0
{ check_short_failsafe, 1, 1000 },
{ ahrs_update, 1, 6400 },
{ update_speed_height, 1, 1600 },
{ update_flight_mode, 1, 1400 },
{ stabilize, 1, 3500 },
{ set_servos, 1, 1600 },
{ read_control_switch, 7, 1000 },
{ update_GPS, 5, 4000 },
{ navigate, 5, 4800 },
{ update_compass, 5, 1500 },
{ read_airspeed, 5, 1500 },
{ gcs_retry_deferred, 1, 1000 },
{ update_GPS, 5, 3700 },
{ navigate, 5, 3000 }, // 10
{ update_compass, 5, 1200 },
{ read_airspeed, 5, 1200 },
{ update_alt, 5, 3400 },
{ calc_altitude_error, 5, 1000 }, // 10
{ update_commands, 5, 7000 },
{ calc_altitude_error, 5, 1000 },
{ update_commands, 5, 5000 },
{ obc_fs_check, 5, 1000 },
{ gcs_update, 1, 1700 },
{ gcs_data_stream_send, 1, 3000 },
{ update_mount, 1, 1500 },
{ update_events, 15, 1500 },
{ check_usb_mux, 5, 200 },
{ update_events, 15, 1500 }, // 20
{ check_usb_mux, 5, 300 },
{ read_battery, 5, 1000 },
{ compass_accumulate, 1, 1500 },
{ barometer_accumulate, 1, 900 }, // 20
{ update_notify, 1, 100 },
{ barometer_accumulate, 1, 900 },
{ update_notify, 1, 300 },
{ one_second_loop, 50, 3900 },
{ check_long_failsafe, 15, 1000 },
{ airspeed_ratio_update, 50, 1000 },
@ -773,10 +776,6 @@ void loop()
mainLoop_count++;
// Execute the fast loop
// ---------------------
fast_loop();
// tell the scheduler one tick has passed
scheduler.tick();
@ -792,26 +791,12 @@ void loop()
scheduler.run(remaining);
}
// Main loop 50Hz
static void fast_loop()
// update AHRS system
static void ahrs_update()
{
// This is the fast loop - we want it to execute at 50Hz if possible
// -----------------------------------------------------------------
if (delta_us_fast_loop > G_Dt_max)
G_Dt_max = delta_us_fast_loop;
// Read radio
// ----------
read_radio();
// try to send any deferred messages if the serial port now has
// some space available
gcs_send_message(MSG_RETRY_DEFERRED);
// check for loss of control signal failsafe condition
// ------------------------------------
check_short_failsafe();
#if HIL_MODE != HIL_MODE_DISABLED
// update hil before AHRS update
gcs_update();

9
ArduPlane/GCS_Mavlink.pde
View File

@ -2287,3 +2287,12 @@ static void gcs_send_airspeed_calibration(const Vector3f &vg)
}
}
}
/**
retry any deferred messages
*/
static void gcs_retry_deferred(void)
{
gcs_send_message(MSG_RETRY_DEFERRED);
}