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Rover: split up GPS update into 10Hz and 50Hz parts

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This commit is contained in:
Andrew Tridgell 2013-12-30 10:33:32 +11:00
parent a96840e194
commit 7578839667
1 changed files with 9 additions and 4 deletions
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13
APMrover2/APMrover2.pde
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@ -553,9 +553,10 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ read_radio, 1, 1000 }, { read_radio, 1, 1000 },
{ ahrs_update, 1, 6400 }, { ahrs_update, 1, 6400 },
{ read_sonars, 1, 2000 }, { read_sonars, 1, 2000 },
{ update_current_mode, 1, 1000 }, { update_current_mode, 1, 1500 },
{ set_servos, 1, 1000 }, { set_servos, 1, 1500 },
{ update_GPS, 5, 2500 }, { update_GPS_50Hz, 1, 2500 },
{ update_GPS_10Hz, 5, 2500 },
{ navigate, 5, 1600 }, { navigate, 5, 1600 },
{ update_compass, 5, 2000 }, { update_compass, 5, 2000 },
{ update_commands, 5, 1000 }, { update_commands, 5, 1000 },
@ -803,7 +804,7 @@ static void one_second_loop(void)
} }
} }
static void update_GPS(void) static void update_GPS_50Hz(void)
{ {
static uint32_t last_gps_reading; static uint32_t last_gps_reading;
g_gps->update(); g_gps->update();
@ -814,7 +815,11 @@ static void update_GPS(void)
DataFlash.Log_Write_GPS(g_gps, current_loc.alt); DataFlash.Log_Write_GPS(g_gps, current_loc.alt);
} }
} }
}
static void update_GPS_10Hz(void)
{
have_position = ahrs.get_projected_position(current_loc); have_position = ahrs.get_projected_position(current_loc);
if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) { if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {