mirror of https://github.com/ArduPilot/ardupilot
Copter: reduce IMU logging to 25Hz
leave more room for IMT logging needed for Replay
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@ -118,7 +118,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
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SCHED_TASK(update_mount, 50, 75),
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SCHED_TASK(update_trigger, 50, 75),
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SCHED_TASK(ten_hz_logging_loop, 10, 350),
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SCHED_TASK(fifty_hz_logging_loop, 50, 110),
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SCHED_TASK(twentyfive_hz_logging, 25, 110),
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SCHED_TASK(full_rate_logging_loop,400, 100),
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SCHED_TASK(dataflash_periodic, 400, 300),
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SCHED_TASK(perf_update, 0.1, 75),
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@ -401,7 +401,7 @@ void Copter::ten_hz_logging_loop()
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// fifty_hz_logging_loop
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// should be run at 50hz
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void Copter::fifty_hz_logging_loop()
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void Copter::twentyfive_hz_logging()
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{
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#if HIL_MODE != HIL_MODE_DISABLED
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// HIL for a copter needs very fast update of the servo values
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@ -421,7 +421,7 @@ void Copter::fifty_hz_logging_loop()
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}
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// log IMU data if we're not already logging at the higher rate
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if (should_log(MASK_LOG_IMU) && !(should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW))) {
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if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) {
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DataFlash.Log_Write_IMU(ins);
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}
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#endif
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@ -431,9 +431,6 @@ void Copter::fifty_hz_logging_loop()
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// should be run at the MAIN_LOOP_RATE
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void Copter::full_rate_logging_loop()
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{
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if (should_log(MASK_LOG_IMU_FAST) && !should_log(MASK_LOG_IMU_RAW)) {
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DataFlash.Log_Write_IMU(ins);
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}
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if (should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
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DataFlash.Log_Write_IMUDT(ins);
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}
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@ -582,7 +582,7 @@ private:
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void update_trigger(void);
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void update_batt_compass(void);
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void ten_hz_logging_loop();
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void fifty_hz_logging_loop();
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void twentyfive_hz_logging();
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void full_rate_logging_loop();
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void three_hz_loop();
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void one_hz_loop();
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