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Plane: run terrain.update() more often 

this provides faster checking of mission waypoints
This commit is contained in:
Andrew Tridgell 2014-08-25 14:55:40 +10:00
parent eeb04ba1b8
commit 7649907ec2
1 changed files with 8 additions and 2 deletions
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10
ArduPlane/ArduPlane.pde
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@ -796,7 +796,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
#if FRSKY_TELEM_ENABLED == ENABLED #if FRSKY_TELEM_ENABLED == ENABLED
{ telemetry_send, 10, 100 }, { telemetry_send, 10, 100 },
#endif #endif
{ terrain_update, 5, 500 },
}; };
// setup the var_info table // setup the var_info table
@ -1023,7 +1023,6 @@ static void one_second_loop()
AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO; AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO;
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE
terrain.update();
if (should_log(MASK_LOG_GPS)) { if (should_log(MASK_LOG_GPS)) {
terrain.log_terrain_data(DataFlash); terrain.log_terrain_data(DataFlash);
} }
@ -1048,6 +1047,13 @@ static void compass_save()
} }
} }
static void terrain_update(void)
{
#if AP_TERRAIN_AVAILABLE
terrain.update();
#endif
}
/* /*
once a second update the airspeed calibration ratio once a second update the airspeed calibration ratio
*/ */