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ArduCopter: move gcs_check function (which sends to ground station) to run when 50hz loop is not running

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Also removed redundant heartbeat message
This commit is contained in:
rmackay9 2012-12-20 15:54:19 +09:00
parent 6fceb278b0
commit 93063a812a
1 changed files with 3 additions and 7 deletions
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10
ArduCopter/ArduCopter.pde
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@ -1001,6 +1001,9 @@ void loop()
gps_fix_count = 0; gps_fix_count = 0;
perf_mon_counter = 0; perf_mon_counter = 0;
} }
}else{
// process communications with the GCS
gcs_check();
} }
} else { } else {
#ifdef DESKTOP_BUILD #ifdef DESKTOP_BUILD
@ -1017,11 +1020,6 @@ void loop()
compass.accumulate(); compass.accumulate();
} }
} }
// process communications with the GCS
if (timer - fast_loopTimer < 6000) {
gcs_check();
}
} }
} }
@ -1359,8 +1357,6 @@ static void super_slow_loop()
auto_disarming_counter = 0; auto_disarming_counter = 0;
} }
gcs_send_message(MSG_HEARTBEAT);
// agmatthews - USERHOOKS // agmatthews - USERHOOKS
#ifdef USERHOOK_SUPERSLOWLOOP #ifdef USERHOOK_SUPERSLOWLOOP
USERHOOK_SUPERSLOWLOOP USERHOOK_SUPERSLOWLOOP