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moved to 200hz update

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Zccel Z updates from Aurelio in attitude.pde
lowered baro_alt sanity check
moved user hooks to the medium 10hz loop.
This commit is contained in:
Jason Short 2011-11-06 22:46:39 -08:00
parent d1431f1070
commit a37fadbedb
1 changed files with 9 additions and 9 deletions
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18
ArduCopter/ArduCopter.pde
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@ -508,7 +508,7 @@ void loop()
long timer = micros(); long timer = micros();
// We want this to execute fast // We want this to execute fast
// ---------------------------- // ----------------------------
if ((timer - fast_loopTimer) >= 4000) { if ((timer - fast_loopTimer) >= 5000) {
//PORTK |= B00010000; //PORTK |= B00010000;
G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops
fast_loopTimer = timer; fast_loopTimer = timer;
@ -730,9 +730,14 @@ static void medium_loop()
// Do an extra baro read // Do an extra baro read
// --------------------- // ---------------------
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
barometer.Read(); barometer.Read();
#endif #endif
// agmatthews - USERHOOKS
#ifdef USERHOOK_MEDIUMLOOP
USERHOOK_MEDIUMLOOP
#endif
slow_loop(); slow_loop();
break; break;
@ -743,11 +748,6 @@ static void medium_loop()
medium_loopCounter = 0; medium_loopCounter = 0;
break; break;
} }
// agmatthews - USERHOOKS
#ifdef USERHOOK_MEDIUMLOOP
USERHOOK_MEDIUMLOOP
#endif
} }
// stuff that happens at 50 hz // stuff that happens at 50 hz
@ -1228,7 +1228,7 @@ static void update_altitude()
sonar_rate = (sonar_alt - old_sonar_alt) * 10; sonar_rate = (sonar_alt - old_sonar_alt) * 10;
old_sonar_alt = sonar_alt; old_sonar_alt = sonar_alt;
if(baro_alt < 1000){ if(baro_alt < 700){
#if SONAR_TILT_CORRECTION == 1 #if SONAR_TILT_CORRECTION == 1
// correct alt for angle of the sonar // correct alt for angle of the sonar