Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Vehicle: call scripting update from 1Hz loop

Browse Source
This commit is contained in:
Iampete1 2023-11-30 16:17:30 +00:00 committed by Andrew Tridgell
parent 2a3a5b2804
commit 433f98fee1
1 changed files with 9 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_Vehicle/AP_Vehicle.cpp
View File

@ -22,6 +22,7 @@
#include <AP_IOMCU/AP_IOMCU.h>
extern AP_IOMCU iomcu;
#endif
#include <AP_Scripting/AP_Scripting.h>
#define SCHED_TASK(func, rate_hz, max_time_micros, prio) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros, prio)
@ -562,9 +563,7 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
#if HAL_EFI_ENABLED
SCHED_TASK_CLASS(AP_EFI, &vehicle.efi, update, 50, 200, 250),
#endif
#if HAL_INS_ACCELCAL_ENABLED
SCHED_TASK(one_Hz_update, 1, 100, 252),
#endif
#if HAL_WITH_ESC_TELEM && HAL_GYROFFT_ENABLED
SCHED_TASK(check_motor_noise, 5, 50, 252),
#endif
@ -944,6 +943,14 @@ void AP_Vehicle::one_Hz_update(void)
}
#endif
}
#if AP_SCRIPTING_ENABLED
AP_Scripting *scripting = AP_Scripting::get_singleton();
if (scripting != nullptr) {
scripting->update();
}
#endif
}
void AP_Vehicle::check_motor_noise()