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Plane: use new scheduler load_average() function

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this also simplifies the main loop
This commit is contained in:
Andrew Tridgell 2013-07-23 17:04:44 +10:00
parent 9672742b42
commit 62cc84aba3
2 changed files with 7 additions and 19 deletions
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24
ArduPlane/ArduPlane.pde
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@ -652,19 +652,12 @@ static uint8_t gps_fix_count = 0;
// Time in miliseconds of start of main control loop. Milliseconds
static uint32_t fast_loopTimer_ms;
// Time Stamp when fast loop was complete. Milliseconds
static uint32_t fast_loopTimeStamp_ms;
// Number of milliseconds used in last main loop cycle
static uint8_t delta_ms_fast_loop;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
static uint16_t mainLoop_count;
// % MCU cycles used
static float load;
// Camera/Antenna mount tracking and stabilisation stuff
// --------------------------------------
#if MOUNT == ENABLED
@ -755,7 +748,6 @@ void loop()
uint16_t num_samples = ins.num_samples_available();
if (num_samples >= 1) {
delta_ms_fast_loop = timer - fast_loopTimer_ms;
load = (float)(fast_loopTimeStamp_ms - fast_loopTimer_ms)/delta_ms_fast_loop;
G_Dt = delta_ms_fast_loop * 0.001f;
fast_loopTimer_ms = timer;
@ -768,16 +760,12 @@ void loop()
// tell the scheduler one tick has passed
scheduler.tick();
fast_loopTimeStamp_ms = millis();
} else {
uint16_t dt = timer - fast_loopTimer_ms;
// we use 19 not 20 here to ensure we run the next loop on
// time - it means we spin for 5% of the time when waiting for
// the next sample from the IMU
if (dt < 19) {
uint16_t time_to_next_loop = 19 - dt;
scheduler.run(time_to_next_loop * 1000U);
}
// run all the tasks that are due to run. Note that we only
// have to call this once per loop, as the tasks are scheduled
// in multiples of the main loop tick. So if they don't run on
// the first call to the scheduler they won't run on a later
// call until scheduler.tick() is called again
scheduler.run(19000U);
}
}

2
ArduPlane/GCS_Mavlink.pde
View File

@ -235,7 +235,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
control_sensors_present,
control_sensors_enabled,
control_sensors_health,
(uint16_t)(load * 1000),
(uint16_t)(scheduler.load_average(20000) * 1000),
battery.voltage * 1000, // mV
battery_current, // in 10mA units
battery_remaining, // in %