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Copter: set main loop rate from CPU class

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Previously this was determined by the board
This commit is contained in:
Randy Mackay 2014-04-19 16:46:55 +09:00
parent 72d2712c4e
commit 8ac14023b4
1 changed files with 3 additions and 7 deletions
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10
ArduCopter/config.h
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@ -59,7 +59,6 @@
# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
# define MAIN_LOOP_RATE 100
# ifdef APM2_BETA_HARDWARE
# define CONFIG_BARO AP_BARO_BMP085
# else // APM2 Production Hardware (default)
@ -71,14 +70,12 @@
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
# define OPTFLOW DISABLED
# define MAIN_LOOP_RATE 100
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define CONFIG_IMU_TYPE CONFIG_IMU_PX4
# define CONFIG_BARO AP_BARO_PX4
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
# define OPTFLOW DISABLED
# define MAIN_LOOP_RATE 400
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
# define CONFIG_IMU_TYPE CONFIG_IMU_FLYMAPLE
# define CONFIG_BARO AP_BARO_BMP085
@ -87,7 +84,6 @@
# define MAGNETOMETER ENABLED
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define OPTFLOW DISABLED
# define MAIN_LOOP_RATE 400
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
# define CONFIG_IMU_TYPE CONFIG_IMU_L3G4200D
# define CONFIG_BARO AP_BARO_BMP085
@ -96,20 +92,20 @@
# define MAGNETOMETER ENABLED
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define OPTFLOW DISABLED
# define MAIN_LOOP_RATE 400
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
# define CONFIG_IMU_TYPE CONFIG_IMU_VRBRAIN
# define CONFIG_BARO AP_BARO_VRBRAIN
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
# define OPTFLOW DISABLED
# define MAIN_LOOP_RATE 400
#endif
#if MAIN_LOOP_RATE == 400
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
# define MAIN_LOOP_RATE 400
# define MAIN_LOOP_SECONDS 0.0025
# define MAIN_LOOP_MICROS 2500
#else
# define MAIN_LOOP_RATE 100
# define MAIN_LOOP_SECONDS 0.01
# define MAIN_LOOP_MICROS 10000
#endif