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Rover: let AP_Vehicle handle loop()

This commit is contained in:
Peter Barker 2020-01-28 12:34:01 +11:00 committed by Peter Barker
parent 51a1ee83a6
commit ba883e2b89
2 changed files with 1 additions and 22 deletions
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12
APMrover2/Rover.cpp
View File

@ -135,8 +135,7 @@ Rover::Rover(void) :
channel_lateral(nullptr), channel_lateral(nullptr),
logger{g.log_bitmask}, logger{g.log_bitmask},
modes(&g.mode1), modes(&g.mode1),
control_mode(&mode_initializing), control_mode(&mode_initializing)
G_Dt(0.02f)
{ {
} }
@ -152,15 +151,6 @@ void Rover::stats_update(void)
#endif #endif
/*
loop() is called rapidly while the sketch is running
*/
void Rover::loop()
{
scheduler.loop();
G_Dt = scheduler.get_last_loop_time_s();
}
// update AHRS system // update AHRS system
void Rover::ahrs_update() void Rover::ahrs_update()
{ {

11
APMrover2/Rover.h
View File

@ -126,9 +126,6 @@ public:
Rover(void); Rover(void);
// HAL::Callbacks implementation.
void loop(void) override;
private: private:
// must be the first AP_Param variable declared to ensure its // must be the first AP_Param variable declared to ensure its
@ -140,9 +137,6 @@ private:
Parameters g; Parameters g;
ParametersG2 g2; ParametersG2 g2;
// main loop scheduler
AP_Scheduler scheduler;
// mapping between input channels // mapping between input channels
RCMapper rcmap; RCMapper rcmap;
@ -237,11 +231,6 @@ private:
// true if the compass's initial location has been set // true if the compass's initial location has been set
bool compass_init_location; bool compass_init_location;
// IMU variables
// The main loop execution time. Seconds
// This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
float G_Dt;
// flyforward timer // flyforward timer
uint32_t flyforward_start_ms; uint32_t flyforward_start_ms;