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AP_Scheduler: allow for arbitrary loop rates

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it turns out 300Hz is pretty useful as it allows for triple EKF on
pixhawk
This commit is contained in:
Andrew Tridgell 2016-01-04 08:37:31 +11:00
parent bd272390bc
commit c3829dfb64
1 changed files with 4 additions and 9 deletions
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13
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -49,7 +49,7 @@ const AP_Param::GroupInfo AP_Scheduler::var_info[] = {
// @Param: LOOP_RATE // @Param: LOOP_RATE
// @DisplayName: Scheduling main loop rate // @DisplayName: Scheduling main loop rate
// @Description: This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart // @Description: This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart
// @Values: 50:50Hz,100:100Hz,200:200Hz,400:400Hz // @Values: 50:50Hz,100:100Hz,200:200Hz,250:250Hz,300:300Hz,400:400Hz
// @RebootRequired: True // @RebootRequired: True
// @User: Advanced // @User: Advanced
AP_GROUPINFO("LOOP_RATE", 1, AP_Scheduler, _loop_rate_hz, SCHEDULER_DEFAULT_LOOP_RATE), AP_GROUPINFO("LOOP_RATE", 1, AP_Scheduler, _loop_rate_hz, SCHEDULER_DEFAULT_LOOP_RATE),
@ -64,15 +64,10 @@ AP_Scheduler::AP_Scheduler(void)
_loop_rate_hz.set_default(SCHEDULER_DEFAULT_LOOP_RATE); _loop_rate_hz.set_default(SCHEDULER_DEFAULT_LOOP_RATE);
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
// only allow specific values of main loop rate. This code is not // only allow 50 to 400 Hz
// setup for arbitrary rates yet if (_loop_rate_hz < 50) {
if (_loop_rate_hz <= 50) {
_loop_rate_hz.set(50); _loop_rate_hz.set(50);
} else if (_loop_rate_hz <= 100) { } else if (_loop_rate_hz > 400) {
_loop_rate_hz.set(100);
} else if (_loop_rate_hz <= 200) {
_loop_rate_hz.set(200);
} else {
_loop_rate_hz.set(400); _loop_rate_hz.set(400);
} }
} }