Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

ArduCopter: use designated initializers for tasks structs

Browse Source 
Makes code less prone to break build and semantics (e.g., when a new field is
added).
This commit is contained in:
Gustavo Jose de Sousa 2015-07-28 11:13:23 -03:00 committed by Andrew Tridgell
parent 2e6074c108
commit 79b8b15053
1 changed files with 43 additions and 40 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

83
ArduCopter/ArduCopter.cpp
View File

@ -75,7 +75,10 @@
#include "Copter.h"
#define SCHED_TASK(func) FUNCTOR_BIND(&copter, &Copter::func, void)
#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\
.function = FUNCTOR_BIND(&copter, &Copter::func, void),\
.interval_ticks = _interval_ticks,\
.max_time_micros = _max_time_micros}
/*
scheduler table for fast CPUs - all regular tasks apart from the fast_loop()
@ -94,64 +97,64 @@
*/
const AP_Scheduler::Task Copter::scheduler_tasks[] PROGMEM = {
{ SCHED_TASK(rc_loop), 4, 130 },
{ SCHED_TASK(throttle_loop), 8, 75 },
{ SCHED_TASK(update_GPS), 8, 200 },
SCHED_TASK(rc_loop, 4, 130),
SCHED_TASK(throttle_loop, 8, 75),
SCHED_TASK(update_GPS, 8, 200),
#if OPTFLOW == ENABLED
{ SCHED_TASK(update_optical_flow), 2, 160 },
SCHED_TASK(update_optical_flow, 2, 160),
#endif
{ SCHED_TASK(update_batt_compass), 40, 120 },
{ SCHED_TASK(read_aux_switches), 40, 50 },
{ SCHED_TASK(arm_motors_check), 40, 50 },
{ SCHED_TASK(auto_trim), 40, 75 },
{ SCHED_TASK(update_altitude), 40, 140 },
{ SCHED_TASK(run_nav_updates), 8, 100 },
{ SCHED_TASK(update_thr_average), 4, 90 },
{ SCHED_TASK(three_hz_loop), 133, 75 },
{ SCHED_TASK(compass_accumulate), 8, 100 },
{ SCHED_TASK(barometer_accumulate), 8, 90 },
SCHED_TASK(update_batt_compass, 40, 120),
SCHED_TASK(read_aux_switches, 40, 50),
SCHED_TASK(arm_motors_check, 40, 50),
SCHED_TASK(auto_trim, 40, 75),
SCHED_TASK(update_altitude, 40, 140),
SCHED_TASK(run_nav_updates, 8, 100),
SCHED_TASK(update_thr_average, 4, 90),
SCHED_TASK(three_hz_loop, 133, 75),
SCHED_TASK(compass_accumulate, 8, 100),
SCHED_TASK(barometer_accumulate, 8, 90),
#if PRECISION_LANDING == ENABLED
{ SCHED_TASK(update_precland), 8, 50 },
SCHED_TASK(update_precland, 8, 50),
#endif
#if FRAME_CONFIG == HELI_FRAME
{ SCHED_TASK(check_dynamic_flight), 8, 75 },
SCHED_TASK(check_dynamic_flight, 8, 75),
#endif
{ SCHED_TASK(update_notify), 8, 90 },
{ SCHED_TASK(one_hz_loop), 400, 100 },
{ SCHED_TASK(ekf_check), 40, 75 },
{ SCHED_TASK(landinggear_update), 40, 75 },
{ SCHED_TASK(lost_vehicle_check), 40, 50 },
{ SCHED_TASK(gcs_check_input), 1, 180 },
{ SCHED_TASK(gcs_send_heartbeat), 400, 110 },
{ SCHED_TASK(gcs_send_deferred), 8, 550 },
{ SCHED_TASK(gcs_data_stream_send), 8, 550 },
{ SCHED_TASK(update_mount), 8, 75 },
{ SCHED_TASK(ten_hz_logging_loop), 40, 350 },
{ SCHED_TASK(fifty_hz_logging_loop), 8, 110 },
{ SCHED_TASK(full_rate_logging_loop),1, 100 },
{ SCHED_TASK(perf_update), 4000, 75 },
{ SCHED_TASK(read_receiver_rssi), 40, 75 },
{ SCHED_TASK(rpm_update), 40, 200 },
SCHED_TASK(update_notify, 8, 90),
SCHED_TASK(one_hz_loop, 400, 100),
SCHED_TASK(ekf_check, 40, 75),
SCHED_TASK(landinggear_update, 40, 75),
SCHED_TASK(lost_vehicle_check, 40, 50),
SCHED_TASK(gcs_check_input, 1, 180),
SCHED_TASK(gcs_send_heartbeat, 400, 110),
SCHED_TASK(gcs_send_deferred, 8, 550),
SCHED_TASK(gcs_data_stream_send, 8, 550),
SCHED_TASK(update_mount, 8, 75),
SCHED_TASK(ten_hz_logging_loop, 40, 350),
SCHED_TASK(fifty_hz_logging_loop, 8, 110),
SCHED_TASK(full_rate_logging_loop, 1, 100),
SCHED_TASK(perf_update, 4000, 75),
SCHED_TASK(read_receiver_rssi, 40, 75),
SCHED_TASK(rpm_update, 40, 200),
#if FRSKY_TELEM_ENABLED == ENABLED
{ SCHED_TASK(frsky_telemetry_send), 80, 75 },
SCHED_TASK(frsky_telemetry_send, 80, 75),
#endif
#if EPM_ENABLED == ENABLED
{ SCHED_TASK(epm_update), 40, 75 },
SCHED_TASK(epm_update, 40, 75),
#endif
#ifdef USERHOOK_FASTLOOP
{ SCHED_TASK(userhook_FastLoop), 4, 75 },
SCHED_TASK(userhook_FastLoop, 4, 75),
#endif
#ifdef USERHOOK_50HZLOOP
{ SCHED_TASK(userhook_50Hz), 8, 75 },
SCHED_TASK(userhook_50Hz, 8, 75),
#endif
#ifdef USERHOOK_MEDIUMLOOP
{ SCHED_TASK(userhook_MediumLoop), 40, 75 },
SCHED_TASK(userhook_MediumLoop, 40, 75),
#endif
#ifdef USERHOOK_SLOWLOOP
{ SCHED_TASK(userhook_SlowLoop), 120, 75 },
SCHED_TASK(userhook_SlowLoop, 120, 75),
#endif
#ifdef USERHOOK_SUPERSLOWLOOP
{ SCHED_TASK(userhook_SuperSlowLoop),400, 75 },
SCHED_TASK(userhook_SuperSlowLoop, 400, 75),
#endif
};