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Sub: use scheduler.get_loop_period_s() instead of MAIN_LOOP_SECONDS

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Willian Galvani 2021-07-06 16:10:33 -03:00
parent 2fb939a1ca
commit 66ad7ff8e7
2 changed files with 2 additions and 3 deletions
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4
ArduSub/Sub.cpp
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@ -32,8 +32,8 @@ Sub::Sub()
auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP), auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
inertial_nav(ahrs), inertial_nav(ahrs),
ahrs_view(ahrs, ROTATION_NONE), ahrs_view(ahrs, ROTATION_NONE),
attitude_control(ahrs_view, aparm, motors, MAIN_LOOP_SECONDS), attitude_control(ahrs_view, aparm, motors, scheduler.get_loop_period_s()),
pos_control(ahrs_view, inertial_nav, motors, attitude_control, MAIN_LOOP_SECONDS), pos_control(ahrs_view, inertial_nav, motors, attitude_control, scheduler.get_loop_period_s()),
wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control), wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
loiter_nav(inertial_nav, ahrs_view, pos_control, attitude_control), loiter_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
circle_nav(inertial_nav, ahrs_view, pos_control), circle_nav(inertial_nav, ahrs_view, pos_control),

1
ArduSub/config.h
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@ -14,7 +14,6 @@
// run at 400Hz on all systems // run at 400Hz on all systems
# define MAIN_LOOP_RATE 400 # define MAIN_LOOP_RATE 400
# define MAIN_LOOP_SECONDS 0.0025f
#ifndef SURFACE_DEPTH_DEFAULT #ifndef SURFACE_DEPTH_DEFAULT
# define SURFACE_DEPTH_DEFAULT -10.0f // pressure sensor reading 10cm depth means craft is considered surfaced # define SURFACE_DEPTH_DEFAULT -10.0f // pressure sensor reading 10cm depth means craft is considered surfaced