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AP_Scheduler: change loop time to remove sleeping in wait_for_sample

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Peter Barker 2017-11-13 20:52:17 +11:00 committed by Andrew Tridgell
parent 7313d9e7a7
commit baa6e04854
1 changed files with 7 additions and 3 deletions
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10
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -211,9 +211,6 @@ void AP_Scheduler::loop()
const uint32_t timer = AP_HAL::micros(); const uint32_t timer = AP_HAL::micros();
// check loop time
perf_info.check_loop_time(timer - loop_start);
// used by PI Loops // used by PI Loops
last_loop_time = (float)(timer - loop_start) / 1000000.0f; last_loop_time = (float)(timer - loop_start) / 1000000.0f;
loop_start = timer; loop_start = timer;
@ -235,4 +232,11 @@ void AP_Scheduler::loop()
const uint32_t loop_us = get_loop_period_us(); const uint32_t loop_us = get_loop_period_us();
const uint32_t time_available = (timer + loop_us) - AP_HAL::micros(); const uint32_t time_available = (timer + loop_us) - AP_HAL::micros();
run(time_available > loop_us ? 0u : time_available); run(time_available > loop_us ? 0u : time_available);
// check loop time
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// move result of AP_HAL::micros() forward:
hal.scheduler->delay_microseconds(1);
#endif
perf_info.check_loop_time(AP_HAL::micros() - loop_start);
} }