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Rover: convert to Hz based task table

This commit is contained in:
Andrew Tridgell 2015-12-26 15:05:34 +11:00 committed by Randy Mackay
parent 4dd8714880
commit 7daab1ee62
5 changed files with 33 additions and 42 deletions
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65
APMrover2/APMrover2.cpp
View File

@ -37,12 +37,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
Rover rover;
#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\
.function = FUNCTOR_BIND(&rover, &Rover::func, void),\
AP_SCHEDULER_NAME_INITIALIZER(func)\
.interval_ticks = _interval_ticks,\
.max_time_micros = _max_time_micros,\
}
#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros)
/*
scheduler table - all regular tasks should be listed here, along
@ -50,38 +45,38 @@ Rover rover;
time they are expected to take (in microseconds)
*/
const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(read_radio, 1, 1000),
SCHED_TASK(ahrs_update, 1, 6400),
SCHED_TASK(read_sonars, 1, 2000),
SCHED_TASK(update_current_mode, 1, 1500),
SCHED_TASK(set_servos, 1, 1500),
SCHED_TASK(update_GPS_50Hz, 1, 2500),
SCHED_TASK(update_GPS_10Hz, 5, 2500),
SCHED_TASK(update_alt, 5, 3400),
SCHED_TASK(navigate, 5, 1600),
SCHED_TASK(update_compass, 5, 2000),
SCHED_TASK(update_commands, 5, 1000),
SCHED_TASK(update_logging1, 5, 1000),
SCHED_TASK(update_logging2, 5, 1000),
SCHED_TASK(gcs_retry_deferred, 1, 1000),
SCHED_TASK(gcs_update, 1, 1700),
SCHED_TASK(gcs_data_stream_send, 1, 3000),
SCHED_TASK(read_radio, 50, 1000),
SCHED_TASK(ahrs_update, 50, 6400),
SCHED_TASK(read_sonars, 50, 2000),
SCHED_TASK(update_current_mode, 50, 1500),
SCHED_TASK(set_servos, 50, 1500),
SCHED_TASK(update_GPS_50Hz, 50, 2500),
SCHED_TASK(update_GPS_10Hz, 10, 2500),
SCHED_TASK(update_alt, 10, 3400),
SCHED_TASK(navigate, 10, 1600),
SCHED_TASK(update_compass, 10, 2000),
SCHED_TASK(update_commands, 10, 1000),
SCHED_TASK(update_logging1, 10, 1000),
SCHED_TASK(update_logging2, 10, 1000),
SCHED_TASK(gcs_retry_deferred, 50, 1000),
SCHED_TASK(gcs_update, 50, 1700),
SCHED_TASK(gcs_data_stream_send, 50, 3000),
SCHED_TASK(read_control_switch, 7, 1000),
SCHED_TASK(read_trim_switch, 5, 1000),
SCHED_TASK(read_battery, 5, 1000),
SCHED_TASK(read_receiver_rssi, 5, 1000),
SCHED_TASK(update_events, 1, 1000),
SCHED_TASK(check_usb_mux, 15, 1000),
SCHED_TASK(mount_update, 1, 600),
SCHED_TASK(gcs_failsafe_check, 5, 600),
SCHED_TASK(compass_accumulate, 1, 900),
SCHED_TASK(update_notify, 1, 300),
SCHED_TASK(one_second_loop, 50, 3000),
SCHED_TASK(compass_cal_update, 1, 100),
SCHED_TASK(read_trim_switch, 10, 1000),
SCHED_TASK(read_battery, 10, 1000),
SCHED_TASK(read_receiver_rssi, 10, 1000),
SCHED_TASK(update_events, 50, 1000),
SCHED_TASK(check_usb_mux, 3, 1000),
SCHED_TASK(mount_update, 50, 600),
SCHED_TASK(gcs_failsafe_check, 10, 600),
SCHED_TASK(compass_accumulate, 50, 900),
SCHED_TASK(update_notify, 50, 300),
SCHED_TASK(one_second_loop, 1, 3000),
SCHED_TASK(compass_cal_update, 50, 100),
#if FRSKY_TELEM_ENABLED == ENABLED
SCHED_TASK(frsky_telemetry_send, 10, 100),
SCHED_TASK(frsky_telemetry_send, 5, 100),
#endif
SCHED_TASK(dataflash_periodic, 1, 300),
SCHED_TASK(dataflash_periodic, 50, 300),
};
/*

1
APMrover2/Rover.cpp
View File

@ -21,7 +21,6 @@
Rover::Rover(void) :
param_loader(var_info),
ins_sample_rate(AP_InertialSensor::RATE_50HZ),
channel_steer(NULL),
channel_throttle(NULL),
channel_learn(NULL),

3
APMrover2/Rover.h
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@ -112,9 +112,6 @@ private:
// variables
AP_Param param_loader;
// the rate we run the main loop at
const AP_InertialSensor::Sample_rate ins_sample_rate;
// all settable parameters
Parameters g;

2
APMrover2/system.cpp
View File

@ -396,7 +396,7 @@ void Rover::startup_INS_ground(void)
ahrs.set_fly_forward(true);
ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
ins.init(ins_sample_rate);
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
}

4
APMrover2/test.cpp
View File

@ -308,7 +308,7 @@ int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
//cliSerial->printf("Calibrating.");
ahrs.init();
ahrs.set_fly_forward(true);
ins.init(ins_sample_rate);
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
print_hit_enter();
@ -371,7 +371,7 @@ int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
ahrs.set_compass(&compass);
// we need the AHRS initialised for this test
ins.init(ins_sample_rate);
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
int counter = 0;