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AP_Vehicle: use update_dynamic_notch() directly in rate loop

This commit is contained in:
Andrew Tridgell 2024-02-15 12:06:22 +11:00
parent 31dc7a85bf
commit 6ac35ce9af
2 changed files with 10 additions and 8 deletions
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3
libraries/AP_Vehicle/AP_Vehicle.cpp
View File

@ -3,6 +3,7 @@
#if AP_VEHICLE_ENABLED
#include "AP_Vehicle.h"
#include <AP_InertialSensor/AP_InertialSensor_rate_config.h>
#include <AP_BLHeli/AP_BLHeli.h>
#include <AP_Common/AP_FWVersion.h>
@ -621,7 +622,7 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update, 400, 50, 205),
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update_parameters, 1, 50, 210),
#endif
#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED && !AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
SCHED_TASK(update_dynamic_notch_at_specified_rate, LOOP_RATE, 200, 215),
#endif
#if AP_VIDEOTX_ENABLED

15
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -522,6 +522,13 @@ protected:
// Check if this mode can be entered from the GCS
bool block_GCS_mode_change(uint8_t mode_num, const uint8_t *mode_list, uint8_t mode_list_length) const;
#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
// update the harmonic notch
void update_dynamic_notch(AP_InertialSensor::HarmonicNotch &notch);
// run notch update at either loop rate or 200Hz
void update_dynamic_notch_at_specified_rate();
#endif // AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
private:
#if AP_SCHEDULER_ENABLED
@ -536,13 +543,7 @@ private:
#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
// update the harmonic notch for throttle based notch
void update_throttle_notch(AP_InertialSensor::HarmonicNotch &notch);
// update the harmonic notch
void update_dynamic_notch(AP_InertialSensor::HarmonicNotch &notch);
// run notch update at either loop rate or 200Hz
void update_dynamic_notch_at_specified_rate();
#endif // AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
#endif // AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
// decimation for 1Hz update
uint8_t one_Hz_counter;