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Copter: use scheduler ticks in place of mainloop_count

This commit is contained in:
Peter Barker 2017-11-13 16:59:07 +11:00 committed by Andrew Tridgell
parent 211e7416a9
commit 7f69c5d26d
4 changed files with 4 additions and 9 deletions
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3
ArduCopter/ArduCopter.cpp
View File

@ -226,9 +226,6 @@ void Copter::loop()
G_Dt = (float)(timer - fast_loopTimer) / 1000000.0f; G_Dt = (float)(timer - fast_loopTimer) / 1000000.0f;
fast_loopTimer = timer; fast_loopTimer = timer;
// for mainloop failure monitoring
mainLoop_count++;
// Execute the fast loop // Execute the fast loop
// --------------------- // ---------------------
fast_loop(); fast_loop();

1
ArduCopter/Copter.cpp
View File

@ -48,7 +48,6 @@ Copter::Copter(void)
inertial_nav(ahrs), inertial_nav(ahrs),
pmTest1(0), pmTest1(0),
fast_loopTimer(0), fast_loopTimer(0),
mainLoop_count(0),
auto_trim_counter(0), auto_trim_counter(0),
in_mavlink_delay(false), in_mavlink_delay(false),
param_loader(var_info), param_loader(var_info),

2
ArduCopter/Copter.h
View File

@ -479,8 +479,6 @@ private:
// -------------- // --------------
// Time in microseconds of main control loop // Time in microseconds of main control loop
uint32_t fast_loopTimer; uint32_t fast_loopTimer;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
uint16_t mainLoop_count;
// arm_time_ms - Records when vehicle was armed. Will be Zero if we are disarmed. // arm_time_ms - Records when vehicle was armed. Will be Zero if we are disarmed.
uint32_t arm_time_ms; uint32_t arm_time_ms;

7
ArduCopter/failsafe.cpp
View File

@ -8,7 +8,7 @@
// //
static bool failsafe_enabled = false; static bool failsafe_enabled = false;
static uint16_t failsafe_last_mainLoop_count; static uint16_t failsafe_last_ticks;
static uint32_t failsafe_last_timestamp; static uint32_t failsafe_last_timestamp;
static bool in_failsafe; static bool in_failsafe;
@ -36,9 +36,10 @@ void Copter::failsafe_check()
{ {
uint32_t tnow = AP_HAL::micros(); uint32_t tnow = AP_HAL::micros();
if (mainLoop_count != failsafe_last_mainLoop_count) { const uint16_t ticks = scheduler.ticks();
if (ticks != failsafe_last_ticks) {
// the main loop is running, all is OK // the main loop is running, all is OK
failsafe_last_mainLoop_count = mainLoop_count; failsafe_last_ticks = ticks;
failsafe_last_timestamp = tnow; failsafe_last_timestamp = tnow;
if (in_failsafe) { if (in_failsafe) {
in_failsafe = false; in_failsafe = false;