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Tracker: call ins's periodic function

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

1
AntennaTracker/Tracker.h
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@ -196,6 +196,7 @@ private:
static const struct LogStructure log_structure[];
void dataflash_periodic(void);
void ins_periodic();
void one_second_loop();
void ten_hz_logging_loop();
void send_heartbeat(mavlink_channel_t chan);