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Rover: call stats set_flying from 1Hz loop

This commit is contained in:
Iampete1 2024-06-24 22:09:39 +01:00 committed by Peter Barker
parent 9d7c8277a4
commit 99f12d66ff
2 changed files with 5 additions and 12 deletions
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16
Rover/Rover.cpp
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@ -293,17 +293,6 @@ void Rover::nav_script_time_done(uint16_t id)
} }
#endif // AP_SCRIPTING_ENABLED #endif // AP_SCRIPTING_ENABLED
#if AP_STATS_ENABLED
/*
update AP_Stats
*/
void Rover::stats_update(void)
{
AP::stats()->set_flying(g2.motors.active());
}
#endif
// update AHRS system // update AHRS system
void Rover::ahrs_update() void Rover::ahrs_update()
{ {
@ -468,6 +457,11 @@ void Rover::one_second_loop(void)
g2.wp_nav.set_turn_params(g2.turn_radius, g2.motors.have_skid_steering()); g2.wp_nav.set_turn_params(g2.turn_radius, g2.motors.have_skid_steering());
g2.pos_control.set_turn_params(g2.turn_radius, g2.motors.have_skid_steering()); g2.pos_control.set_turn_params(g2.turn_radius, g2.motors.have_skid_steering());
g2.wheel_rate_control.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz()); g2.wheel_rate_control.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
#if AP_STATS_ENABLED
// Update stats "flying" time
AP::stats()->set_flying(g2.motors.active());
#endif
} }
void Rover::update_current_mode(void) void Rover::update_current_mode(void)

1
Rover/Rover.h
View File

@ -285,7 +285,6 @@ private:
bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) override; bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) override;
void nav_script_time_done(uint16_t id) override; void nav_script_time_done(uint16_t id) override;
#endif // AP_SCRIPTING_ENABLED #endif // AP_SCRIPTING_ENABLED
void stats_update();
void ahrs_update(); void ahrs_update();
void gcs_failsafe_check(void); void gcs_failsafe_check(void);
void update_logging1(void); void update_logging1(void);