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ArduPlane: use designated initializers for tasks structs

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Makes code less prone to break build and semantics (e.g., when a new field is
added).
This commit is contained in:
Gustavo Jose de Sousa 2015-07-28 11:07:51 -03:00 committed by Andrew Tridgell
parent 9820cb0c07
commit b0258d902c
1 changed files with 43 additions and 40 deletions
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83
ArduPlane/ArduPlane.cpp
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@ -24,7 +24,10 @@
#include "Plane.h"
#define SCHED_TASK(func) FUNCTOR_BIND(&plane, &Plane::func, void)
#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\
.function = FUNCTOR_BIND(&plane, &Plane::func, void),\
.interval_ticks = _interval_ticks,\
.max_time_micros = _max_time_micros}
/*
scheduler table - all regular tasks are listed here, along with how
@ -32,49 +35,49 @@
they are expected to take (in microseconds)
*/
const AP_Scheduler::Task Plane::scheduler_tasks[] PROGMEM = {
{ SCHED_TASK(read_radio), 1, 700 }, // 0
{ SCHED_TASK(check_short_failsafe), 1, 1000 },
{ SCHED_TASK(ahrs_update), 1, 6400 },
{ SCHED_TASK(update_speed_height), 1, 1600 },
{ SCHED_TASK(update_flight_mode), 1, 1400 },
{ SCHED_TASK(stabilize), 1, 3500 },
{ SCHED_TASK(set_servos), 1, 1600 },
{ SCHED_TASK(read_control_switch), 7, 1000 },
{ SCHED_TASK(gcs_retry_deferred), 1, 1000 },
{ SCHED_TASK(update_GPS_50Hz), 1, 2500 },
{ SCHED_TASK(update_GPS_10Hz), 5, 2500 }, // 10
{ SCHED_TASK(navigate), 5, 3000 },
{ SCHED_TASK(update_compass), 5, 1200 },
{ SCHED_TASK(read_airspeed), 5, 1200 },
{ SCHED_TASK(update_alt), 5, 3400 },
{ SCHED_TASK(adjust_altitude_target), 5, 1000 },
{ SCHED_TASK(obc_fs_check), 5, 1000 },
{ SCHED_TASK(gcs_update), 1, 1700 },
{ SCHED_TASK(gcs_data_stream_send), 1, 3000 },
{ SCHED_TASK(update_events), 1, 1500 }, // 20
{ SCHED_TASK(check_usb_mux), 5, 300 },
{ SCHED_TASK(read_battery), 5, 1000 },
{ SCHED_TASK(compass_accumulate), 1, 1500 },
{ SCHED_TASK(barometer_accumulate), 1, 900 },
{ SCHED_TASK(update_notify), 1, 300 },
{ SCHED_TASK(read_rangefinder), 1, 500 },
SCHED_TASK(read_radio, 1, 700), // 0
SCHED_TASK(check_short_failsafe, 1, 1000),
SCHED_TASK(ahrs_update, 1, 6400),
SCHED_TASK(update_speed_height, 1, 1600),
SCHED_TASK(update_flight_mode, 1, 1400),
SCHED_TASK(stabilize, 1, 3500),
SCHED_TASK(set_servos, 1, 1600),
SCHED_TASK(read_control_switch, 7, 1000),
SCHED_TASK(gcs_retry_deferred, 1, 1000),
SCHED_TASK(update_GPS_50Hz, 1, 2500),
SCHED_TASK(update_GPS_10Hz, 5, 2500), // 10
SCHED_TASK(navigate, 5, 3000),
SCHED_TASK(update_compass, 5, 1200),
SCHED_TASK(read_airspeed, 5, 1200),
SCHED_TASK(update_alt, 5, 3400),
SCHED_TASK(adjust_altitude_target, 5, 1000),
SCHED_TASK(obc_fs_check, 5, 1000),
SCHED_TASK(gcs_update, 1, 1700),
SCHED_TASK(gcs_data_stream_send, 1, 3000),
SCHED_TASK(update_events, 1, 1500), // 20
SCHED_TASK(check_usb_mux, 5, 300),
SCHED_TASK(read_battery, 5, 1000),
SCHED_TASK(compass_accumulate, 1, 1500),
SCHED_TASK(barometer_accumulate, 1, 900),
SCHED_TASK(update_notify, 1, 300),
SCHED_TASK(read_rangefinder, 1, 500),
#if OPTFLOW == ENABLED
{ SCHED_TASK(update_optical_flow), 1, 500 },
SCHED_TASK(update_optical_flow, 1, 500),
#endif
{ SCHED_TASK(one_second_loop), 50, 1000 },
{ SCHED_TASK(check_long_failsafe), 15, 1000 },
{ SCHED_TASK(read_receiver_rssi), 5, 1000 },
{ SCHED_TASK(airspeed_ratio_update), 50, 1000 }, // 30
{ SCHED_TASK(update_mount), 1, 1500 },
{ SCHED_TASK(log_perf_info), 500, 1000 },
{ SCHED_TASK(compass_save), 3000, 2500 },
{ SCHED_TASK(update_logging1), 5, 1700 },
{ SCHED_TASK(update_logging2), 5, 1700 },
SCHED_TASK(one_second_loop, 50, 1000),
SCHED_TASK(check_long_failsafe, 15, 1000),
SCHED_TASK(read_receiver_rssi, 5, 1000),
SCHED_TASK(airspeed_ratio_update, 50, 1000), // 30
SCHED_TASK(update_mount, 1, 1500),
SCHED_TASK(log_perf_info, 500, 1000),
SCHED_TASK(compass_save, 3000, 2500),
SCHED_TASK(update_logging1, 5, 1700),
SCHED_TASK(update_logging2, 5, 1700),
#if FRSKY_TELEM_ENABLED == ENABLED
{ SCHED_TASK(frsky_telemetry_send), 10, 100 },
SCHED_TASK(frsky_telemetry_send, 10, 100),
#endif
{ SCHED_TASK(terrain_update), 5, 500 },
{ SCHED_TASK(update_is_flying_5Hz), 10, 100 },
SCHED_TASK(terrain_update, 5, 500),
SCHED_TASK(update_is_flying_5Hz, 10, 100),
};
void Plane::setup()