diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index cf5630b737..c029a3dfc1 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -38,62 +38,62 @@ Rover rover;
#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros)
/*
- scheduler table - all regular tasks should be listed here, along
- with how often they should be called (in 20ms units) and the maximum
- time they are expected to take (in microseconds)
-*/
+ scheduler table - all regular tasks are listed here, along with how
+ often they should be called (in Hz) and the maximum time
+ they are expected to take (in microseconds)
+ */
const AP_Scheduler::Task Rover::scheduler_tasks[] = {
// Function name, Hz, us,
- SCHED_TASK(read_radio, 50, 1000),
- SCHED_TASK(ahrs_update, 50, 6400),
- SCHED_TASK(read_rangefinders, 50, 2000),
- SCHED_TASK(update_current_mode, 50, 1500),
- SCHED_TASK(set_servos, 50, 1500),
- SCHED_TASK(update_GPS_50Hz, 50, 2500),
- SCHED_TASK(update_GPS_10Hz, 10, 2500),
- SCHED_TASK(update_alt, 10, 3400),
- SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 50),
- SCHED_TASK_CLASS(AP_Proximity, &rover.g2.proximity, update, 50, 50),
- SCHED_TASK(update_visual_odom, 50, 50),
- SCHED_TASK(update_wheel_encoder, 20, 50),
- SCHED_TASK(update_compass, 10, 2000),
- SCHED_TASK(update_mission, 50, 500),
- SCHED_TASK(update_logging1, 10, 1000),
- SCHED_TASK(update_logging2, 10, 1000),
+ SCHED_TASK(read_radio, 50, 200),
+ SCHED_TASK(ahrs_update, 50, 1500),
+ SCHED_TASK(read_rangefinders, 50, 200),
+ SCHED_TASK(update_current_mode, 50, 200),
+ SCHED_TASK(set_servos, 50, 200),
+ SCHED_TASK(update_GPS_50Hz, 50, 300),
+ SCHED_TASK(update_GPS_10Hz, 10, 300),
+ SCHED_TASK(update_alt, 10, 200),
+ SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 200),
+ SCHED_TASK_CLASS(AP_Proximity, &rover.g2.proximity, update, 50, 200),
+ SCHED_TASK(update_visual_odom, 50, 200),
+ SCHED_TASK(update_wheel_encoder, 20, 200),
+ SCHED_TASK(update_compass, 10, 200),
+ SCHED_TASK(update_mission, 50, 200),
+ SCHED_TASK(update_logging1, 10, 200),
+ SCHED_TASK(update_logging2, 10, 200),
SCHED_TASK(gcs_retry_deferred, 50, 1000),
- SCHED_TASK(gcs_update, 50, 1700),
+ SCHED_TASK(gcs_update, 50, 1000),
SCHED_TASK(gcs_data_stream_send, 50, 3000),
- SCHED_TASK(read_control_switch, 7, 1000),
- SCHED_TASK(read_aux_switch, 10, 100),
- SCHED_TASK_CLASS(AP_BattMonitor, &rover.battery, read, 10, 1000),
- SCHED_TASK(read_receiver_rssi, 10, 1000),
- SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events, 50, 1000),
- SCHED_TASK(check_usb_mux, 3, 1000),
+ SCHED_TASK(read_control_switch, 7, 200),
+ SCHED_TASK(read_aux_switch, 10, 200),
+ SCHED_TASK_CLASS(AP_BattMonitor, &rover.battery, read, 10, 300),
+ SCHED_TASK(read_receiver_rssi, 10, 200),
+ SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events, 50, 200),
+ SCHED_TASK(check_usb_mux, 3, 200),
#if MOUNT == ENABLED
- SCHED_TASK_CLASS(AP_Mount, &rover.camera_mount, update, 50, 600),
+ SCHED_TASK_CLASS(AP_Mount, &rover.camera_mount, update, 50, 200),
#endif
#if CAMERA == ENABLED
- SCHED_TASK_CLASS(AP_Camera, &rover.camera, update_trigger, 50, 600),
+ SCHED_TASK_CLASS(AP_Camera, &rover.camera, update_trigger, 50, 200),
#endif
- SCHED_TASK(gcs_failsafe_check, 10, 600),
- SCHED_TASK(fence_check, 10, 100),
- SCHED_TASK(compass_accumulate, 50, 900),
- SCHED_TASK_CLASS(ModeSmartRTL, &rover.mode_smartrtl, save_position, 3, 100),
+ SCHED_TASK(gcs_failsafe_check, 10, 200),
+ SCHED_TASK(fence_check, 10, 200),
+ SCHED_TASK(compass_accumulate, 50, 200),
+ SCHED_TASK_CLASS(ModeSmartRTL, &rover.mode_smartrtl, save_position, 3, 200),
SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300),
- SCHED_TASK(one_second_loop, 1, 3000),
- SCHED_TASK(compass_cal_update, 50, 100),
- SCHED_TASK(accel_cal_update, 10, 100),
+ SCHED_TASK(one_second_loop, 1, 1500),
+ SCHED_TASK(compass_cal_update, 50, 200),
+ SCHED_TASK(accel_cal_update, 10, 200),
SCHED_TASK_CLASS(DataFlash_Class, &rover.DataFlash, periodic_tasks, 50, 300),
- SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 50, 50),
- SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 75),
- SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 100),
+ SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 50, 200),
+ SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 200),
+ SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 200),
#if STATS_ENABLED == ENABLED
- SCHED_TASK(stats_update, 1, 100),
+ SCHED_TASK(stats_update, 1, 200),
#endif
- SCHED_TASK(crash_check, 10, 1000),
- SCHED_TASK(cruise_learn_update, 50, 50),
+ SCHED_TASK(crash_check, 10, 200),
+ SCHED_TASK(cruise_learn_update, 50, 200),
#if ADVANCED_FAILSAFE == ENABLED
- SCHED_TASK(afs_fs_check, 10, 100),
+ SCHED_TASK(afs_fs_check, 10, 200),
#endif
};