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Copter: address review comments

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Andy Piper 2024-11-10 14:34:41 +00:00 committed by Andrew Tridgell
parent 3d43f2053f
commit 96a70df75b
2 changed files with 2 additions and 5 deletions
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2
ArduCopter/Copter.h
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@ -753,7 +753,7 @@ private:
void rate_controller_thread(); void rate_controller_thread();
void rate_controller_filter_update(); void rate_controller_filter_update();
void rate_controller_log_update(); void rate_controller_log_update();
uint8_t rate_controller_set_rates(uint8_t rate_decimation, RateControllerRates& rates, bool warn_cpu_high); void rate_controller_set_rates(uint8_t rate_decimation, RateControllerRates& rates, bool warn_cpu_high);
void enable_fast_rate_loop(uint8_t rate_decimation, RateControllerRates& rates); void enable_fast_rate_loop(uint8_t rate_decimation, RateControllerRates& rates);
void disable_fast_rate_loop(RateControllerRates& rates); void disable_fast_rate_loop(RateControllerRates& rates);
void update_dynamic_notch_at_specified_rate_main(); void update_dynamic_notch_at_specified_rate_main();

5
ArduCopter/rate_thread.cpp
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@ -248,7 +248,6 @@ void Copter::rate_controller_thread()
const float dt = dt_us * 1.0e-6; const float dt = dt_us * 1.0e-6;
last_run_us = now_us; last_run_us = now_us;
motors->set_dt(sensor_dt);
// check if we are falling behind // check if we are falling behind
if (ins.get_num_gyro_samples() > 2) { if (ins.get_num_gyro_samples() > 2) {
running_slow++; running_slow++;
@ -420,7 +419,7 @@ void Copter::rate_controller_filter_update()
/* /*
update rate controller rates and return the logging rate update rate controller rates and return the logging rate
*/ */
uint8_t Copter::rate_controller_set_rates(uint8_t rate_decimation, RateControllerRates& rates, bool warn_cpu_high) void Copter::rate_controller_set_rates(uint8_t rate_decimation, RateControllerRates& rates, bool warn_cpu_high)
{ {
const uint32_t attitude_rate = ins.get_raw_gyro_rate_hz() / rate_decimation; const uint32_t attitude_rate = ins.get_raw_gyro_rate_hz() / rate_decimation;
attitude_control->set_notch_sample_rate(attitude_rate); attitude_control->set_notch_sample_rate(attitude_rate);
@ -439,8 +438,6 @@ uint8_t Copter::rate_controller_set_rates(uint8_t rate_decimation, RateControlle
#endif #endif
rates.main_loop_rate = calc_gyro_decimation(rate_decimation, AP::scheduler().get_filtered_loop_rate_hz()); rates.main_loop_rate = calc_gyro_decimation(rate_decimation, AP::scheduler().get_filtered_loop_rate_hz());
rates.filter_rate = calc_gyro_decimation(rate_decimation, ins.get_raw_gyro_rate_hz() / 2); rates.filter_rate = calc_gyro_decimation(rate_decimation, ins.get_raw_gyro_rate_hz() / 2);
return 0;
} }
// enable the fast rate thread using the provided decimation rate and record the new output rates // enable the fast rate thread using the provided decimation rate and record the new output rates