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Tracker: adjust for new update entry points into GCS

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Peter Barker 2018-11-23 11:38:07 +11:00 committed by Randy Mackay
parent 05f2e51b4d
commit 7161f57d64
2 changed files with 4 additions and 5 deletions
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5
AntennaTracker/AntennaTracker.cpp
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@ -39,8 +39,8 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
SCHED_TASK(update_compass, 10, 1500), SCHED_TASK(update_compass, 10, 1500),
SCHED_TASK_CLASS(AP_BattMonitor, &tracker.battery, read, 10, 1500), SCHED_TASK_CLASS(AP_BattMonitor, &tracker.battery, read, 10, 1500),
SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, update, 10, 1500), SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, update, 10, 1500),
SCHED_TASK_CLASS(GCS, (GCS*)&tracker._gcs, update, 50, 1700), SCHED_TASK_CLASS(GCS, (GCS*)&tracker._gcs, update_receive, 50, 1700),
SCHED_TASK_CLASS(GCS, (GCS*)&tracker._gcs, data_stream_send, 50, 3000), SCHED_TASK_CLASS(GCS, (GCS*)&tracker._gcs, update_send, 50, 3000),
SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, accumulate, 50, 900), SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, accumulate, 50, 900),
SCHED_TASK(ten_hz_logging_loop, 10, 300), SCHED_TASK(ten_hz_logging_loop, 10, 300),
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
@ -48,7 +48,6 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
#endif #endif
SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins, periodic, 50, 50), SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins, periodic, 50, 50),
SCHED_TASK_CLASS(AP_Notify, &tracker.notify, update, 50, 100), SCHED_TASK_CLASS(AP_Notify, &tracker.notify, update, 50, 100),
SCHED_TASK_CLASS(GCS, (GCS*)&tracker._gcs, retry_deferred, 50, 1000),
SCHED_TASK(one_second_loop, 1, 3900), SCHED_TASK(one_second_loop, 1, 3900),
SCHED_TASK(compass_cal_update, 50, 100), SCHED_TASK(compass_cal_update, 50, 100),
SCHED_TASK(accel_cal_update, 10, 100) SCHED_TASK(accel_cal_update, 10, 100)

4
AntennaTracker/GCS_Mavlink.cpp
View File

@ -577,8 +577,8 @@ void Tracker::mavlink_delay_cb()
} }
if (tnow - last_50hz > 20) { if (tnow - last_50hz > 20) {
last_50hz = tnow; last_50hz = tnow;
gcs().update(); gcs().update_receive();
gcs().data_stream_send(); gcs().update_send();
notify.update(); notify.update();
} }
if (tnow - last_5s > 5000) { if (tnow - last_5s > 5000) {