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Copter: reorganise medium loop

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Shifted compass logging to happen when compass is read.
Updated comments.
This commit is contained in:
Randy Mackay 2013-05-20 11:18:51 +09:00
parent c840e2a8c2
commit 55f1b3b2ae
1 changed files with 22 additions and 24 deletions
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46
ArduCopter/ArduCopter.pde
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@ -1083,8 +1083,8 @@ static void medium_loop()
// -----------------------------------------
switch(medium_loopCounter) {
// This case deals with the GPS and Compass
//-----------------------------------------
// This case reads from the battery and Compass
//---------------------------------------------
case 0:
medium_loopCounter++;
@ -1098,33 +1098,37 @@ static void medium_loop()
if (compass.read()) {
compass.null_offsets();
}
// log compass information
if (motors.armed() && (g.log_bitmask & MASK_LOG_COMPASS)) {
Log_Write_Compass();
}
}
#endif
// auto_trim - stores roll and pitch radio inputs to ahrs
auto_trim();
// record throttle output
// ------------------------------
throttle_integrator += g.rc_3.servo_out;
break;
// This case performs some navigation computations
//------------------------------------------------
// This case reads rssi information and performs auto trim
//--------------------------------------------------------
case 1:
medium_loopCounter++;
// read receiver rssi information
read_receiver_rssi();
// auto_trim - stores roll and pitch radio inputs to ahrs
auto_trim();
break;
// command processing
//-------------------
// This case deals with aux switches and toy mode's throttle
//----------------------------------------------------------
case 2:
medium_loopCounter++;
// log compass information
if (motors.armed() && (g.log_bitmask & MASK_LOG_COMPASS)) {
Log_Write_Compass();
}
// check ch7 and ch8 aux switches
read_aux_switches();
if(control_mode == TOY_A) {
update_toy_throttle();
@ -1133,11 +1137,10 @@ static void medium_loop()
update_toy_altitude();
}
}
break;
// This case deals with sending high rate telemetry
//-------------------------------------------------
// This case deals with logging attitude and motor information to dataflash
// ------------------------------------------------------------------------
case 3:
medium_loopCounter++;
@ -1148,22 +1151,17 @@ static void medium_loop()
Log_Write_DMP();
#endif
}
if (g.log_bitmask & MASK_LOG_MOTORS)
Log_Write_Motors();
}
break;
// This case controls the slow loop
//---------------------------------
// This case deals with arming checks, copter LEDs and 10hz user hooks
// -------------------------------------------------------------------------------
case 4:
medium_loopCounter = 0;
// check ch7 and ch8 aux switches
read_aux_switches();
// Check for engine arming
// -----------------------
// Check for motor arming or disarming
arm_motors();
// agmatthews - USERHOOKS