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Rover: use the new load_average() API

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This commit is contained in:
Andrew Tridgell 2013-07-23 17:07:35 +10:00
parent 01e19a32fe
commit 9f49b8fa48
2 changed files with 3 additions and 11 deletions
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12
APMrover2/APMrover2.pde
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@ -543,9 +543,6 @@ static uint8_t delta_ms_fast_loop;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
static uint16_t mainLoop_count;
// % MCU cycles used
static float load;
////////////////////////////////////////////////////////////////////////////////
// Top-level logic
////////////////////////////////////////////////////////////////////////////////
@ -607,7 +604,6 @@ void loop()
uint16_t num_samples = ins.num_samples_available();
if (num_samples >= 1) {
delta_ms_fast_loop = timer - fast_loopTimer;
load = (float)(fast_loopTimeStamp - fast_loopTimer)/delta_ms_fast_loop;
G_Dt = (float)delta_ms_fast_loop / 1000.f;
fast_loopTimer = timer;
@ -620,12 +616,8 @@ void loop()
// tell the scheduler one tick has passed
scheduler.tick();
fast_loopTimeStamp = millis();
} else {
uint16_t dt = timer - fast_loopTimer;
if (dt < 20) {
uint16_t time_to_next_loop = 20 - dt;
scheduler.run(time_to_next_loop * 1000U);
}
scheduler.run(19000U);
}
}

2
APMrover2/GCS_Mavlink.pde
View File

@ -191,7 +191,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
control_sensors_present,
control_sensors_enabled,
control_sensors_health,
(uint16_t)(load * 1000),
(uint16_t)(scheduler.load_average(20000) * 1000),
battery_voltage1 * 1000, // mV
battery_current, // in 10mA units
battery_remaining, // in %