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Sub: let AP_Vehicle handle loop()

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Peter Barker 2020-01-28 12:35:54 +11:00 committed by Peter Barker
parent 58d45ef04a
commit 7658c13c69
3 changed files with 1 additions and 20 deletions
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7
ArduSub/ArduSub.cpp
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@ -91,13 +91,6 @@ void Sub::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
constexpr int8_t Sub::_failsafe_priorities[5]; constexpr int8_t Sub::_failsafe_priorities[5];
void Sub::loop()
{
scheduler.loop();
G_Dt = scheduler.get_loop_period_s();
}
// Main loop - 400hz // Main loop - 400hz
void Sub::fast_loop() void Sub::fast_loop()
{ {

1
ArduSub/Sub.cpp
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@ -31,7 +31,6 @@ Sub::Sub()
auto_mode(Auto_WP), auto_mode(Auto_WP),
guided_mode(Guided_WP), guided_mode(Guided_WP),
auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP), auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
G_Dt(MAIN_LOOP_SECONDS),
inertial_nav(ahrs), inertial_nav(ahrs),
ahrs_view(ahrs, ROTATION_NONE), ahrs_view(ahrs, ROTATION_NONE),
attitude_control(ahrs_view, aparm, motors, MAIN_LOOP_SECONDS), attitude_control(ahrs_view, aparm, motors, MAIN_LOOP_SECONDS),

13
ArduSub/Sub.h
View File

@ -130,9 +130,6 @@ public:
Sub(void); Sub(void);
// HAL::Callbacks implementation.
void loop() override;
private: private:
// key aircraft parameters passed to multiple libraries // key aircraft parameters passed to multiple libraries
@ -142,9 +139,6 @@ private:
Parameters g; Parameters g;
ParametersG2 g2; ParametersG2 g2;
// main loop scheduler
AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&Sub::fast_loop, void)};
// primary input control channels // primary input control channels
RC_Channel *channel_roll; RC_Channel *channel_roll;
RC_Channel *channel_pitch; RC_Channel *channel_pitch;
@ -343,11 +337,6 @@ private:
int32_t condition_value; // used in condition commands (eg delay, change alt, etc.) int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)
uint32_t condition_start; uint32_t condition_start;
// IMU variables
// Integration time (in seconds) for the gyros (DCM algorithm)
// Updated with the fast loop
float G_Dt;
// Inertial Navigation // Inertial Navigation
AP_InertialNav_NavEKF inertial_nav; AP_InertialNav_NavEKF inertial_nav;
@ -412,7 +401,7 @@ private:
static const AP_Param::Info var_info[]; static const AP_Param::Info var_info[];
static const struct LogStructure log_structure[]; static const struct LogStructure log_structure[];
void fast_loop(); void fast_loop() override;
void fifty_hz_loop(); void fifty_hz_loop();
void update_batt_compass(void); void update_batt_compass(void);
void ten_hz_logging_loop(); void ten_hz_logging_loop();