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Copter: scheduler times corrections

This commit is contained in:
Randy Mackay 2013-10-11 23:49:40 +09:00
parent 6be6bd5aed
commit 8706810d55
1 changed files with 17 additions and 16 deletions
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33
ArduCopter/ArduCopter.pde
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@ -858,28 +858,28 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ throttle_loop, 2, 450 },
{ update_GPS, 2, 900 },
{ update_nav_mode, 1, 400 },
{ update_batt_compass, 10, 700 }, // time not verified
{ read_aux_switches, 10, 700 }, // time not verified
{ arm_motors_check, 10, 100 }, // time not verified
{ auto_trim, 10, 700 }, // time not verified
{ update_toy_throttle, 10, 100 }, // time not verified
{ update_batt_compass, 10, 720 },
{ read_aux_switches, 10, 50 },
{ arm_motors_check, 10, 10 },
{ auto_trim, 10, 140 },
{ update_toy_throttle, 10, 50 },
{ update_altitude, 10, 1000 },
{ run_nav_updates, 10, 800 },
{ three_hz_loop, 33, 500 }, // time not verified
{ compass_accumulate, 2, 700 },
{ barometer_accumulate, 2, 900 },
{ three_hz_loop, 33, 90 },
{ compass_accumulate, 2, 420 },
{ barometer_accumulate, 2, 250 },
{ update_notify, 2, 100 },
{ one_hz_loop, 100, 1100 },
{ one_hz_loop, 100, 420 },
{ gcs_check_input, 2, 700 },
{ gcs_send_heartbeat, 100, 700 },
{ gcs_send_deferred, 2, 1200 },
{ gcs_data_stream_send, 2, 1500 },
{ update_copter_leds, 10, 700 }, // time not verified
{ update_mount, 2, 50 }, // time not verified
{ ten_hz_logging_loop, 10, 200 }, // time not verified
{ update_copter_leds, 10, 55 },
{ update_mount, 2, 2000 },
{ ten_hz_logging_loop, 10, 260 },
{ fifty_hz_logging_loop, 2, 220 },
{ read_receiver_rssi, 10, 700 }, // time not verified
{ perf_update, 1000, 500 },
{ perf_update, 1000, 200 },
{ read_receiver_rssi, 10, 50 },
#ifdef USERHOOK_FASTLOOP
{ userhook_50Hz, 1, 100 },
#endif
@ -1001,7 +1001,7 @@ void loop()
// the first call to the scheduler they won't run on a later
// call until scheduler.tick() is called again
uint32_t time_available = (timer + 10000) - micros();
scheduler.run(time_available - 500);
scheduler.run(time_available - 300);
}
@ -1133,8 +1133,9 @@ static void ten_hz_logging_loop()
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) {
Log_Write_Attitude();
}
if (g.log_bitmask & MASK_LOG_MOTORS)
if (g.log_bitmask & MASK_LOG_MOTORS) {
Log_Write_Motors();
}
}
}