Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tracker: call ins's periodic function

Browse Source
This commit is contained in:
Peter Barker 2017-10-04 11:13:23 +11:00 committed by Andrew Tridgell
parent 2d0a23fcc8
commit b59c272996
2 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
AntennaTracker/AntennaTracker.cpp
View File

@ -44,6 +44,7 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
SCHED_TASK(barometer_accumulate, 50, 900), SCHED_TASK(barometer_accumulate, 50, 900),
SCHED_TASK(ten_hz_logging_loop, 10, 300), SCHED_TASK(ten_hz_logging_loop, 10, 300),
SCHED_TASK(dataflash_periodic, 50, 300), SCHED_TASK(dataflash_periodic, 50, 300),
SCHED_TASK(ins_periodic, 50, 50),
SCHED_TASK(update_notify, 50, 100), SCHED_TASK(update_notify, 50, 100),
SCHED_TASK(check_usb_mux, 10, 300), SCHED_TASK(check_usb_mux, 10, 300),
SCHED_TASK(gcs_retry_deferred, 50, 1000), SCHED_TASK(gcs_retry_deferred, 50, 1000),
@ -85,6 +86,11 @@ void Tracker::dataflash_periodic(void)
DataFlash.periodic_tasks(); DataFlash.periodic_tasks();
} }
void Tracker::ins_periodic()
{
ins.periodic();
}
void Tracker::one_second_loop() void Tracker::one_second_loop()
{ {
// send a heartbeat // send a heartbeat

1
AntennaTracker/Tracker.h
View File

@ -196,6 +196,7 @@ private:
static const struct LogStructure log_structure[]; static const struct LogStructure log_structure[];
void dataflash_periodic(void); void dataflash_periodic(void);
void ins_periodic();
void one_second_loop(); void one_second_loop();
void ten_hz_logging_loop(); void ten_hz_logging_loop();
void send_heartbeat(mavlink_channel_t chan); void send_heartbeat(mavlink_channel_t chan);