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Tracker: convert to Hz based task table

This commit is contained in:
Andrew Tridgell 2015-12-26 15:08:38 +11:00 committed by Randy Mackay
parent 7daab1ee62
commit 782ba00d4b
3 changed files with 17 additions and 24 deletions
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37
AntennaTracker/AntennaTracker.cpp
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@ -21,12 +21,7 @@
#include "Tracker.h" #include "Tracker.h"
#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\ #define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Tracker, &tracker, func, _interval_ticks, _max_time_micros)
.function = FUNCTOR_BIND(&tracker, &Tracker::func, void),\
AP_SCHEDULER_NAME_INITIALIZER(func)\
.interval_ticks = _interval_ticks,\
.max_time_micros = _max_time_micros,\
}
/* /*
scheduler table - all regular tasks apart from the fast_loop() scheduler table - all regular tasks apart from the fast_loop()
@ -35,21 +30,21 @@
microseconds) microseconds)
*/ */
const AP_Scheduler::Task Tracker::scheduler_tasks[] = { const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
SCHED_TASK(update_ahrs, 1, 1000), SCHED_TASK(update_ahrs, 50, 1000),
SCHED_TASK(read_radio, 1, 200), SCHED_TASK(read_radio, 50, 200),
SCHED_TASK(update_tracking, 1, 1000), SCHED_TASK(update_tracking, 50, 1000),
SCHED_TASK(update_GPS, 5, 4000), SCHED_TASK(update_GPS, 10, 4000),
SCHED_TASK(update_compass, 5, 1500), SCHED_TASK(update_compass, 10, 1500),
SCHED_TASK(update_barometer, 5, 1500), SCHED_TASK(update_barometer, 10, 1500),
SCHED_TASK(gcs_update, 1, 1700), SCHED_TASK(gcs_update, 50, 1700),
SCHED_TASK(gcs_data_stream_send, 1, 3000), SCHED_TASK(gcs_data_stream_send, 50, 3000),
SCHED_TASK(compass_accumulate, 1, 1500), SCHED_TASK(compass_accumulate, 50, 1500),
SCHED_TASK(barometer_accumulate, 1, 900), SCHED_TASK(barometer_accumulate, 50, 900),
SCHED_TASK(update_notify, 1, 100), SCHED_TASK(update_notify, 50, 100),
SCHED_TASK(check_usb_mux, 5, 300), SCHED_TASK(check_usb_mux, 10, 300),
SCHED_TASK(gcs_retry_deferred, 1, 1000), SCHED_TASK(gcs_retry_deferred, 50, 1000),
SCHED_TASK(one_second_loop, 50, 3900), SCHED_TASK(one_second_loop, 1, 3900),
SCHED_TASK(compass_cal_update, 1, 100), SCHED_TASK(compass_cal_update, 50, 100),
}; };
/** /**

2
AntennaTracker/Tracker.h
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@ -88,8 +88,6 @@ public:
void loop() override; void loop() override;
private: private:
const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ;
Parameters g; Parameters g;
// main loop scheduler // main loop scheduler

2
AntennaTracker/system.cpp
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@ -77,7 +77,7 @@ void Tracker::init_tracker()
ahrs.init(); ahrs.init();
ahrs.set_fly_forward(false); ahrs.set_fly_forward(false);
ins.init(ins_sample_rate); ins.init(scheduler.get_loop_rate_hz());
ahrs.reset(); ahrs.reset();
init_barometer(); init_barometer();