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Sub: base loop time remaining on variable loop rate

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This commit is contained in:
Peter Barker 2017-07-30 15:11:31 +10:00 committed by Randy Mackay
parent 02a590024d
commit b1516cc6e8
2 changed files with 3 additions and 3 deletions
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5
ArduSub/ArduSub.cpp
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@ -146,8 +146,9 @@ void Sub::loop()
// in multiples of the main loop tick. So if they don't run on
// the first call to the scheduler they won't run on a later
// call until scheduler.tick() is called again
uint32_t time_available = (timer + MAIN_LOOP_MICROS) - micros();
scheduler.run(time_available > MAIN_LOOP_MICROS ? 0u : time_available);
const uint32_t loop_us = scheduler.get_loop_period_us();
const uint32_t time_available = (timer + loop_us) - micros();
scheduler.run(time_available > loop_us ? 0u : time_available);
}

1
ArduSub/config.h
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@ -41,7 +41,6 @@
// run at 400Hz on all systems
# define MAIN_LOOP_RATE 400
# define MAIN_LOOP_SECONDS 0.0025f
# define MAIN_LOOP_MICROS 2500
#ifndef SURFACE_DEPTH_DEFAULT
# define SURFACE_DEPTH_DEFAULT -10.0f // pressure sensor reading 10cm depth means craft is considered surfaced