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AP_Scheduler: move clamping of loop rate to init function

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Parameters may not be available in the constructor, and that's what we
need to be clamping.
This commit is contained in:
Peter Barker 2020-01-29 10:05:11 +11:00 committed by Peter Barker
parent b8087c3e84
commit 5580196b1c
1 changed files with 8 additions and 8 deletions
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16
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -73,14 +73,6 @@ AP_Scheduler::AP_Scheduler(scheduler_fastloop_fn_t fastloop_fn) :
_singleton = this; _singleton = this;
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
// only allow 50 to 2000 Hz
if (_loop_rate_hz < 50) {
_loop_rate_hz.set(50);
} else if (_loop_rate_hz > 2000) {
_loop_rate_hz.set(2000);
}
_last_loop_time_s = 1.0 / _loop_rate_hz;
} }
/* /*
@ -95,6 +87,14 @@ AP_Scheduler *AP_Scheduler::get_singleton()
// initialise the scheduler // initialise the scheduler
void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks, uint32_t log_performance_bit) void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks, uint32_t log_performance_bit)
{ {
// only allow 50 to 2000 Hz
if (_loop_rate_hz < 50) {
_loop_rate_hz.set(50);
} else if (_loop_rate_hz > 2000) {
_loop_rate_hz.set(2000);
}
_last_loop_time_s = 1.0 / _loop_rate_hz;
AP_Vehicle* vehicle = AP::vehicle(); AP_Vehicle* vehicle = AP::vehicle();
if (vehicle != nullptr) { if (vehicle != nullptr) {
vehicle->get_common_scheduler_tasks(_common_tasks, _num_tasks); vehicle->get_common_scheduler_tasks(_common_tasks, _num_tasks);