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Copter: reduce IMU logging to 25Hz

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leave more room for IMT logging needed for Replay
This commit is contained in:
Andrew Tridgell 2016-05-03 13:21:23 +10:00
parent a5c55c3fbd
commit b235304235
2 changed files with 4 additions and 7 deletions
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9
ArduCopter/ArduCopter.cpp
View File

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

2
ArduCopter/Copter.h
View File

@ -582,7 +582,7 @@ private:
void update_trigger(void); void update_trigger(void);
void update_batt_compass(void); void update_batt_compass(void);
void ten_hz_logging_loop(); void ten_hz_logging_loop();
void fifty_hz_logging_loop(); void twentyfive_hz_logging();
void full_rate_logging_loop(); void full_rate_logging_loop();
void three_hz_loop(); void three_hz_loop();
void one_hz_loop(); void one_hz_loop();