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ArduCopter: update_trigger() is now called in AP_Camera update()

This commit is contained in:
Mirko Denecke 2020-06-22 22:34:15 +02:00 committed by Randy Mackay
parent 10a85892cf
commit 89d423556c
2 changed files with 2 additions and 27 deletions
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28
ArduCopter/Copter.cpp
View File

@ -91,7 +91,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(rc_loop, 100, 130),
SCHED_TASK(throttle_loop, 50, 75),
SCHED_TASK(update_GPS, 50, 200),
SCHED_TASK_CLASS(AP_GPS, &copter.gps, update, 50, 200),
#if OPTFLOW == ENABLED
SCHED_TASK_CLASS(OpticalFlow, &copter.optflow, update, 200, 160),
#endif
@ -150,7 +150,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_Mount, &copter.camera_mount, update, 50, 75),
#endif
#if CAMERA == ENABLED
SCHED_TASK_CLASS(AP_Camera, &copter.camera, update_trigger, 50, 75),
SCHED_TASK_CLASS(AP_Camera, &copter.camera, update, 50, 75),
#endif
#if LOGGING_ENABLED == ENABLED
SCHED_TASK(ten_hz_logging_loop, 10, 350),
@ -515,30 +515,6 @@ void Copter::one_hz_loop()
AP_Notify::flags.flying = !ap.land_complete;
}
// called at 50hz
void Copter::update_GPS(void)
{
static uint32_t last_gps_reading[GPS_MAX_INSTANCES]; // time of last gps message
bool gps_updated = false;
gps.update();
// log after every gps message
for (uint8_t i=0; i<gps.num_sensors(); i++) {
if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
last_gps_reading[i] = gps.last_message_time_ms(i);
gps_updated = true;
break;
}
}
if (gps_updated) {
#if CAMERA == ENABLED
camera.update();
#endif
}
}
void Copter::init_simple_bearing()
{
// capture current cos_yaw and sin_yaw values

1
ArduCopter/Copter.h
View File

@ -652,7 +652,6 @@ private:
void twentyfive_hz_logging();
void three_hz_loop();
void one_hz_loop();
void update_GPS(void);
void init_simple_bearing();
void update_simple_mode(void);
void update_super_simple_bearing(bool force_update);