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Copter: move update_optflow to sensors.pde

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Also slightly shorten function name
This commit is contained in:
Randy Mackay 2014-10-15 15:56:57 +09:00
parent d238f48dda
commit aa3e34a44a
2 changed files with 26 additions and 26 deletions
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28
ArduCopter/ArduCopter.pde
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@ -788,7 +788,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ throttle_loop, 8, 45 }, { throttle_loop, 8, 45 },
{ update_GPS, 8, 90 }, { update_GPS, 8, 90 },
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
{ update_optical_flow, 8, 20 }, { update_optflow, 8, 20 },
#endif #endif
{ update_batt_compass, 40, 72 }, { update_batt_compass, 40, 72 },
{ read_aux_switches, 40, 5 }, { read_aux_switches, 40, 5 },
@ -862,7 +862,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ throttle_loop, 2, 450 }, { throttle_loop, 2, 450 },
{ update_GPS, 2, 900 }, { update_GPS, 2, 900 },
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
{ update_optical_flow, 2, 100 }, { update_optflow, 2, 100 },
#endif #endif
{ update_batt_compass, 10, 720 }, { update_batt_compass, 10, 720 },
{ read_aux_switches, 10, 50 }, { read_aux_switches, 10, 50 },
@ -1203,30 +1203,6 @@ static void one_hz_loop()
#endif #endif
} }
// called at 100hz but data from sensor only arrives at 20 Hz
#if OPTFLOW == ENABLED
static void update_optical_flow(void)
{
static uint32_t last_of_update = 0;
// exit immediately if not enabled
if (!optflow.enabled()) {
return;
}
// read from sensor
optflow.update();
// write to log if new data has arrived
if (optflow.last_update() != last_of_update) {
last_of_update = optflow.last_update();
if (g.log_bitmask & MASK_LOG_OPTFLOW) {
Log_Write_Optflow();
}
}
}
#endif // OPTFLOW == ENABLED
// called at 50hz // called at 50hz
static void update_GPS(void) static void update_GPS(void)
{ {

24
ArduCopter/sensors.pde
View File

@ -107,6 +107,30 @@ static void init_optflow()
#endif // OPTFLOW == ENABLED #endif // OPTFLOW == ENABLED
} }
// called at 100hz but data from sensor only arrives at 20 Hz
#if OPTFLOW == ENABLED
static void update_optflow(void)
{
static uint32_t last_of_update = 0;
// exit immediately if not enabled
if (!optflow.enabled()) {
return;
}
// read from sensor
optflow.update();
// write to log if new data has arrived
if (optflow.last_update() != last_of_update) {
last_of_update = optflow.last_update();
if (g.log_bitmask & MASK_LOG_OPTFLOW) {
Log_Write_Optflow();
}
}
}
#endif // OPTFLOW == ENABLED
// read_battery - check battery voltage and current and invoke failsafe if necessary // read_battery - check battery voltage and current and invoke failsafe if necessary
// called at 10hz // called at 10hz
static void read_battery(void) static void read_battery(void)