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Copter: remove MAIN_LOOP_RATE in favour of parameter value

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This commit is contained in:
Peter Barker 2017-08-26 22:59:03 +10:00 committed by Randy Mackay
parent d541ac509f
commit 89e6e70235
3 changed files with 12 additions and 10 deletions
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2
ArduCopter/Copter.cpp
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@ -99,7 +99,7 @@ Copter::Copter(void) :
#endif #endif
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// ToDo: Input Manager is only used by Heli for 3.3, but will be used by all frames for 3.4 // ToDo: Input Manager is only used by Heli for 3.3, but will be used by all frames for 3.4
input_manager(MAIN_LOOP_RATE), input_manager(),
#endif #endif
in_mavlink_delay(false), in_mavlink_delay(false),
gcs_out_of_time(false), gcs_out_of_time(false),

1
ArduCopter/config.h
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@ -49,7 +49,6 @@
#define MAGNETOMETER ENABLED #define MAGNETOMETER ENABLED
// run at 400Hz on all systems // run at 400Hz on all systems
# define MAIN_LOOP_RATE 400
# define MAIN_LOOP_SECONDS 0.0025f # define MAIN_LOOP_SECONDS 0.0025f
#ifndef ARMING_DELAY_SEC #ifndef ARMING_DELAY_SEC

19
ArduCopter/system.cpp
View File

@ -117,7 +117,10 @@ void Copter::init_ardupilot()
// trad heli specific initialisation // trad heli specific initialisation
heli_init(); heli_init();
#endif #endif
#if FRAME_CONFIG == HELI_FRAME
input_manager.set_loop_rate(scheduler.get_loop_rate_hz());
#endif
init_rc_in(); // sets up rc channels from radio init_rc_in(); // sets up rc channels from radio
// default frame class to match firmware if possible // default frame class to match firmware if possible
@ -515,36 +518,36 @@ void Copter::allocate_motors(void)
case AP_Motors::MOTOR_FRAME_OCTAQUAD: case AP_Motors::MOTOR_FRAME_OCTAQUAD:
case AP_Motors::MOTOR_FRAME_DODECAHEXA: case AP_Motors::MOTOR_FRAME_DODECAHEXA:
default: default:
motors = new AP_MotorsMatrix(MAIN_LOOP_RATE); motors = new AP_MotorsMatrix(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsMatrix::var_info; motors_var_info = AP_MotorsMatrix::var_info;
break; break;
case AP_Motors::MOTOR_FRAME_TRI: case AP_Motors::MOTOR_FRAME_TRI:
motors = new AP_MotorsTri(MAIN_LOOP_RATE); motors = new AP_MotorsTri(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsTri::var_info; motors_var_info = AP_MotorsTri::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_TRICOPTER); AP_Param::set_frame_type_flags(AP_PARAM_FRAME_TRICOPTER);
break; break;
case AP_Motors::MOTOR_FRAME_SINGLE: case AP_Motors::MOTOR_FRAME_SINGLE:
motors = new AP_MotorsSingle(MAIN_LOOP_RATE); motors = new AP_MotorsSingle(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsSingle::var_info; motors_var_info = AP_MotorsSingle::var_info;
break; break;
case AP_Motors::MOTOR_FRAME_COAX: case AP_Motors::MOTOR_FRAME_COAX:
motors = new AP_MotorsCoax(MAIN_LOOP_RATE); motors = new AP_MotorsCoax(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsCoax::var_info; motors_var_info = AP_MotorsCoax::var_info;
break; break;
case AP_Motors::MOTOR_FRAME_TAILSITTER: case AP_Motors::MOTOR_FRAME_TAILSITTER:
motors = new AP_MotorsTailsitter(MAIN_LOOP_RATE); motors = new AP_MotorsTailsitter(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsTailsitter::var_info; motors_var_info = AP_MotorsTailsitter::var_info;
break; break;
#else // FRAME_CONFIG == HELI_FRAME #else // FRAME_CONFIG == HELI_FRAME
case AP_Motors::MOTOR_FRAME_HELI_DUAL: case AP_Motors::MOTOR_FRAME_HELI_DUAL:
motors = new AP_MotorsHeli_Dual(MAIN_LOOP_RATE); motors = new AP_MotorsHeli_Dual(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsHeli_Dual::var_info; motors_var_info = AP_MotorsHeli_Dual::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI); AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
break; break;
case AP_Motors::MOTOR_FRAME_HELI: case AP_Motors::MOTOR_FRAME_HELI:
default: default:
motors = new AP_MotorsHeli_Single(MAIN_LOOP_RATE); motors = new AP_MotorsHeli_Single(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsHeli_Single::var_info; motors_var_info = AP_MotorsHeli_Single::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI); AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
break; break;