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fix for Loop timing issue. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1776 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-03-16 05:43:48 +00:00
parent c1f785df66
commit b66db9f839
1 changed files with 4 additions and 5 deletions
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9
ArduCopterMega/ArduCopterMega.pde
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@ -404,7 +404,7 @@ byte medium_loopCounter; // Counters for branching from main control loop t
uint8_t delta_ms_medium_loop;
byte slow_loopCounter;
byte superslow_loopCounter;
int superslow_loopCounter;
byte fbw_timer; // for limiting the execution of FBW input
//unsigned long nav_loopTimer; // used to track the elapsed ime for GPS nav
@ -682,14 +682,13 @@ void slow_loop()
slow_loopCounter++;
superslow_loopCounter++;
if(superslow_loopCounter >= 200){ // Execute every minute
if(superslow_loopCounter > 1400){ // every 7 minutes
#if HIL_MODE != HIL_MODE_ATTITUDE
if(g.compass_enabled){
if(g.rc_3.control_in == 0 && g.compass_enabled){
compass.save_offsets();
superslow_loopCounter = 0;
}
#endif
superslow_loopCounter = 0;
}
break;