From 79b8b150530c23980683456a485d15251e1ffe75 Mon Sep 17 00:00:00 2001
From: Gustavo Jose de Sousa <gustavo.sousa@intel.com>
Date: Tue, 28 Jul 2015 11:13:23 -0300
Subject: [PATCH] ArduCopter: use designated initializers for tasks structs

Makes code less prone to break build and semantics (e.g., when a new field is
added).
---
 ArduCopter/ArduCopter.cpp | 83 ++++++++++++++++++++-------------------
 1 file changed, 43 insertions(+), 40 deletions(-)

diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index 2637ac7c94..a616f184a5 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/ArduCopter/ArduCopter.cpp
@@ -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
 };