Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Added loop priority, fixed arming bug for apo.

Browse Source
This commit is contained in:
James Goppert 2011-10-19 13:22:29 -04:00
parent 35e8503b9e
commit 73c3f1098a
3 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
apo/QuadArducopter.h
View File

@ -54,9 +54,9 @@ static const bool rangeFinderUpEnabled = false;
static const bool rangeFinderDownEnabled = false;
// loop rates
static const float loopRate = 400; // attitude nav
static const float loop0Rate = 50; // controller
static const float loop1Rate = 10; // pos nav/ gcs fast
static const float loopRate = 250; // attitude nav
static const float loop0Rate = 40; // controller
static const float loop1Rate = 5; // pos nav/ gcs fast
static const float loop2Rate = 1; // gcs slow
static const float loop3Rate = 0.1;

2
libraries/APO/AP_ArmingMechanism.h
View File

@ -52,7 +52,7 @@ public:
private:
AP_HardwareAbstractionLayer * _hal;
uint8_t _armingClock;
int8_t _armingClock;
uint8_t _ch1; /// typically throttle channel
uint8_t _ch2; /// typically yaw channel
float _ch1Min; /// arms/disarms below this on ch1

10
libraries/APO/AP_Autopilot.cpp
View File

@ -94,13 +94,13 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
AP_MavlinkCommand::home.getCommand());
/*
* Attach loops
* Attach loops, stacking for priority
*/
hal->debug->println_P(PSTR("attaching loops"));
subLoops().push_back(new Loop(loop0Rate, callback0, this));
subLoops().push_back(new Loop(loop1Rate, callback1, this));
subLoops().push_back(new Loop(loop2Rate, callback2, this));
subLoops().push_back(new Loop(loop3Rate, callback3, this));
subLoops()[0]->subLoops().push_back(new Loop(loop1Rate, callback1, this));
subLoops()[0]->subLoops()[0]->subLoops().push_back(new Loop(loop2Rate, callback2, this));
subLoops()[0]->subLoops()[0]->subLoops()[0]->subLoops().push_back(new Loop(loop3Rate, callback3, this));
hal->debug->println_P(PSTR("running"));
hal->gcs->sendText(SEVERITY_LOW, PSTR("running"));
@ -162,7 +162,7 @@ void AP_Autopilot::callback1(void * data) {
* slow navigation loop update
*/
if (apo->getNavigator()) {
apo->getNavigator()->updateSlow(apo->subLoops()[1]->dt());
apo->getNavigator()->updateSlow(apo->subLoops()[0]->subLoops()[0]->dt());
}
/*