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Copter: re-arrange fast_loop for minimum latency

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this makes motor outputs as responsive as possible to gyros
This commit is contained in:
Andrew Tridgell 2017-04-03 11:05:14 +10:00 committed by Randy Mackay
parent a11dca5229
commit b4d9397821
1 changed files with 9 additions and 5 deletions
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14
ArduCopter/ArduCopter.cpp
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@ -255,10 +255,16 @@ void Copter::loop()
// Main loop - 400hz // Main loop - 400hz
void Copter::fast_loop() void Copter::fast_loop()
{ {
// update INS immediately to get current gyro data populated
ins.update();
// run low level rate controllers that only require IMU data // run low level rate controllers that only require IMU data
attitude_control->rate_controller_run(); attitude_control->rate_controller_run();
// IMU DCM Algorithm // send outputs to the motors library immediately
motors_output();
// run EKF state estimator (expensive)
// -------------------- // --------------------
read_AHRS(); read_AHRS();
@ -266,9 +272,6 @@ void Copter::fast_loop()
update_heli_control_dynamics(); update_heli_control_dynamics();
#endif //HELI_FRAME #endif //HELI_FRAME
// send outputs to the motors library
motors_output();
// Inertial Nav // Inertial Nav
// -------------------- // --------------------
read_inertia(); read_inertia();
@ -626,7 +629,8 @@ void Copter::read_AHRS(void)
gcs_check_input(); gcs_check_input();
#endif #endif
ahrs.update(); // we tell AHRS to skip INS update as we have already done it in fast_loop()
ahrs.update(true);
} }
// read baro and rangefinder altitude at 10hz // read baro and rangefinder altitude at 10hz