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Plane: update for Hz based AP_Scheduler

This commit is contained in:
Andrew Tridgell 2015-12-01 06:59:28 +11:00 committed by Randy Mackay
parent 1b1be7e4a2
commit 58d9b030ea
1 changed files with 45 additions and 49 deletions
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94
ArduPlane/ArduPlane.cpp
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@ -24,12 +24,8 @@
#include "Plane.h"
#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\
.function = FUNCTOR_BIND(&plane, &Plane::func, void),\
AP_SCHEDULER_NAME_INITIALIZER(func)\
.interval_ticks = _interval_ticks,\
.max_time_micros = _max_time_micros,\
}
#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(Plane, &plane, func, rate_hz, max_time_micros)
/*
scheduler table - all regular tasks are listed here, along with how
@ -37,54 +33,54 @@
they are expected to take (in microseconds)
*/
const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(read_radio, 1, 700),
SCHED_TASK(check_short_failsafe, 1, 1000),
SCHED_TASK(ahrs_update, 1, 6400),
SCHED_TASK(update_speed_height, 1, 1600),
SCHED_TASK(update_flight_mode, 1, 1400),
SCHED_TASK(stabilize, 1, 3500),
SCHED_TASK(set_servos, 1, 1600),
SCHED_TASK(read_radio, 50, 700),
SCHED_TASK(check_short_failsafe, 50, 1000),
SCHED_TASK(ahrs_update, 50, 6400),
SCHED_TASK(update_speed_height, 50, 1600),
SCHED_TASK(update_flight_mode, 50, 1400),
SCHED_TASK(stabilize, 50, 3500),
SCHED_TASK(set_servos, 50, 1600),
SCHED_TASK(read_control_switch, 7, 1000),
SCHED_TASK(gcs_retry_deferred, 1, 1000),
SCHED_TASK(update_GPS_50Hz, 1, 2500),
SCHED_TASK(update_GPS_10Hz, 5, 2500),
SCHED_TASK(navigate, 5, 3000),
SCHED_TASK(update_compass, 5, 1200),
SCHED_TASK(read_airspeed, 5, 1200),
SCHED_TASK(update_alt, 5, 3400),
SCHED_TASK(adjust_altitude_target, 5, 1000),
SCHED_TASK(obc_fs_check, 5, 1000),
SCHED_TASK(gcs_update, 1, 1700),
SCHED_TASK(gcs_data_stream_send, 1, 3000),
SCHED_TASK(update_events, 1, 1500),
SCHED_TASK(check_usb_mux, 5, 300),
SCHED_TASK(read_battery, 5, 1000),
SCHED_TASK(compass_accumulate, 1, 1500),
SCHED_TASK(barometer_accumulate, 1, 900),
SCHED_TASK(update_notify, 1, 300),
SCHED_TASK(read_rangefinder, 1, 500),
SCHED_TASK(compass_cal_update, 1, 100),
SCHED_TASK(gcs_retry_deferred, 50, 1000),
SCHED_TASK(update_GPS_50Hz, 50, 2500),
SCHED_TASK(update_GPS_10Hz, 10, 2500),
SCHED_TASK(navigate, 10, 3000),
SCHED_TASK(update_compass, 10, 1200),
SCHED_TASK(read_airspeed, 10, 1200),
SCHED_TASK(update_alt, 10, 3400),
SCHED_TASK(adjust_altitude_target, 10, 1000),
SCHED_TASK(obc_fs_check, 10, 1000),
SCHED_TASK(gcs_update, 50, 1700),
SCHED_TASK(gcs_data_stream_send, 50, 3000),
SCHED_TASK(update_events, 50, 1500),
SCHED_TASK(check_usb_mux, 10, 300),
SCHED_TASK(read_battery, 10, 1000),
SCHED_TASK(compass_accumulate, 50, 1500),
SCHED_TASK(barometer_accumulate, 50, 900),
SCHED_TASK(update_notify, 50, 300),
SCHED_TASK(read_rangefinder, 50, 500),
SCHED_TASK(compass_cal_update, 50, 100),
#if OPTFLOW == ENABLED
SCHED_TASK(update_optical_flow, 1, 500),
SCHED_TASK(update_optical_flow, 50, 500),
#endif
SCHED_TASK(one_second_loop, 50, 1000),
SCHED_TASK(check_long_failsafe, 15, 1000),
SCHED_TASK(read_receiver_rssi, 5, 1000),
SCHED_TASK(rpm_update, 5, 200),
SCHED_TASK(airspeed_ratio_update, 50, 1000),
SCHED_TASK(update_mount, 1, 1500),
SCHED_TASK(log_perf_info, 500, 1000),
SCHED_TASK(compass_save, 3000, 2500),
SCHED_TASK(update_logging1, 5, 1700),
SCHED_TASK(update_logging2, 5, 1700),
SCHED_TASK(parachute_check, 5, 500),
SCHED_TASK(one_second_loop, 1, 1000),
SCHED_TASK(check_long_failsafe, 3, 1000),
SCHED_TASK(read_receiver_rssi, 10, 1000),
SCHED_TASK(rpm_update, 10, 200),
SCHED_TASK(airspeed_ratio_update, 1, 1000),
SCHED_TASK(update_mount, 50, 1500),
SCHED_TASK(log_perf_info, 0.1, 1000),
SCHED_TASK(compass_save, 0.016, 2500),
SCHED_TASK(update_logging1, 10, 1700),
SCHED_TASK(update_logging2, 10, 1700),
SCHED_TASK(parachute_check, 10, 500),
#if FRSKY_TELEM_ENABLED == ENABLED
SCHED_TASK(frsky_telemetry_send, 10, 100),
SCHED_TASK(frsky_telemetry_send, 5, 100),
#endif
SCHED_TASK(terrain_update, 5, 500),
SCHED_TASK(update_is_flying_5Hz, 10, 100),
SCHED_TASK(dataflash_periodic, 1, 300),
SCHED_TASK(adsb_update, 50, 500),
SCHED_TASK(terrain_update, 10, 500),
SCHED_TASK(update_is_flying_5Hz, 5, 100),
SCHED_TASK(dataflash_periodic, 50, 300),
SCHED_TASK(adsb_update, 1, 500),
};
void Plane::setup()