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ArduCopter: remove dangling ifdefs for 100Hz main loop

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ArduCopter doesn't support main loop of 100Hz anymore. Remove the
missing ifdefs checking for MAIN_LOOP_RATE.
This commit is contained in:
Lucas De Marchi 2015-05-04 19:09:12 -03:00 committed by Randy Mackay
parent 3781f133d7
commit 4f6c32cb35
3 changed files with 3 additions and 24 deletions
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4
ArduCopter/ArduCopter.pde
View File

@ -231,11 +231,7 @@ static DataFlash_Empty DataFlash;
////////////////////////////////////////////////////////////////////////////////
// the rate we run the main loop at
////////////////////////////////////////////////////////////////////////////////
#if MAIN_LOOP_RATE == 400
static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_400HZ;
#else
static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_100HZ;
#endif
////////////////////////////////////////////////////////////////////////////////
// Sensors

16
ArduCopter/control_poshold.pde
View File

@ -9,18 +9,7 @@
#define POSHOLD_SPEED_0 10 // speed below which it is always safe to switch to loiter
#if MAIN_LOOP_RATE == 100
// definitions for 100hz loop update rate
# define POSHOLD_BRAKE_TIME_ESTIMATE_MAX 600 // max number of cycles the brake will be applied before we switch to loiter
# define POSHOLD_BRAKE_TO_LOITER_TIMER 150 // Number of cycles to transition from brake mode to loiter mode.
# define POSHOLD_WIND_COMP_START_TIMER 150 // Number of cycles to start wind compensation update after loiter is engaged
# define POSHOLD_CONTROLLER_TO_PILOT_MIX_TIMER 50 // Set it from 100 to 200, the number of centiseconds loiter and manual commands are mixed to make a smooth transition.
# define POSHOLD_SMOOTH_RATE_FACTOR 0.05f // filter applied to pilot's roll/pitch input as it returns to center. A lower number will cause the roll/pitch to return to zero more slowly if the brake_rate is also low.
# define POSHOLD_WIND_COMP_TIMER_10HZ 10 // counter value used to reduce wind compensation to 10hz
# define LOOP_RATE_FACTOR 1 // used to adapt PosHold params to loop_rate
# define TC_WIND_COMP 0.01f // Time constant for poshold_update_wind_comp_estimate()
#else
// definitions for 400hz loop update rate
// 400hz loop update rate
# define POSHOLD_BRAKE_TIME_ESTIMATE_MAX (600*4) // max number of cycles the brake will be applied before we switch to loiter
# define POSHOLD_BRAKE_TO_LOITER_TIMER (150*4) // Number of cycles to transition from brake mode to loiter mode. Must be lower than POSHOLD_LOITER_STAB_TIMER
# define POSHOLD_WIND_COMP_START_TIMER (150*4) // Number of cycles to start wind compensation update after loiter is engaged
@ -29,7 +18,6 @@
# define POSHOLD_WIND_COMP_TIMER_10HZ 40 // counter value used to reduce wind compensation to 10hz
# define LOOP_RATE_FACTOR 4 // used to adapt PosHold params to loop_rate
# define TC_WIND_COMP 0.0025f // Time constant for poshold_update_wind_comp_estimate()
#endif
// definitions that are independent of main loop rate
#define POSHOLD_STICK_RELEASE_SMOOTH_ANGLE 1800 // max angle required (in centi-degrees) after which the smooth stick release effect is applied
@ -572,12 +560,10 @@ static void poshold_update_brake_angle_from_velocity(int16_t &brake_angle, float
float lean_angle;
int16_t brake_rate = g.poshold_brake_rate;
#if MAIN_LOOP_RATE == 400
brake_rate /= 4;
if (brake_rate <= 0) {
brake_rate = 1;
}
#endif
// calculate velocity-only based lean angle
if (velocity >= 0) {

7
ArduCopter/perf_info.pde
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@ -5,11 +5,8 @@
// we measure the main loop time
//
#if MAIN_LOOP_RATE == 400
# define PERF_INFO_OVERTIME_THRESHOLD_MICROS 3000
#else
# define PERF_INFO_OVERTIME_THRESHOLD_MICROS 10500
#endif
// 400hz loop update rate
#define PERF_INFO_OVERTIME_THRESHOLD_MICROS 3000
static uint16_t perf_info_loop_count;
static uint32_t perf_info_max_time;