Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-23 09:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: code clean-up move 10hz loop after 50hz loop

Browse Source
This commit is contained in:
Randy Mackay 2013-05-20 11:05:14 +09:00
parent 6a65a32de2
commit c840e2a8c2
1 changed files with 56 additions and 56 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

112
ArduCopter/ArduCopter.pde
View File

@ -1020,6 +1020,62 @@ static void fast_loop()
#endif
}
// stuff that happens at 50 hz
// ---------------------------
static void fifty_hz_loop()
{
// get altitude and climb rate from inertial lib
read_inertial_altitude();
// Update the throttle ouput
// -------------------------
update_throttle_mode();
#if TOY_EDF == ENABLED
edf_toy();
#endif
// check auto_armed status
update_auto_armed();
#ifdef USERHOOK_50HZLOOP
USERHOOK_50HZLOOP
#endif
#if HIL_MODE != HIL_MODE_DISABLED && FRAME_CONFIG != HELI_FRAME
// HIL for a copter needs very fast update of the servo values
gcs_send_message(MSG_RADIO_OUT);
#endif
#if MOUNT == ENABLED
// update camera mount's position
camera_mount.update_mount_position();
#endif
#if MOUNT2 == ENABLED
// update camera mount's position
camera_mount2.update_mount_position();
#endif
#if CAMERA == ENABLED
camera.trigger_pic_cleanup();
#endif
# if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motors.armed()) {
Log_Write_Attitude();
#if SECONDARY_DMP_ENABLED == ENABLED
Log_Write_DMP();
#endif
}
if (g.log_bitmask & MASK_LOG_IMU && motors.armed())
DataFlash.Log_Write_IMU(&ins);
#endif
}
// medium_loop - runs at 10hz
static void medium_loop()
{
@ -1128,62 +1184,6 @@ static void medium_loop()
}
}
// stuff that happens at 50 hz
// ---------------------------
static void fifty_hz_loop()
{
// get altitude and climb rate from inertial lib
read_inertial_altitude();
// Update the throttle ouput
// -------------------------
update_throttle_mode();
#if TOY_EDF == ENABLED
edf_toy();
#endif
// check auto_armed status
update_auto_armed();
#ifdef USERHOOK_50HZLOOP
USERHOOK_50HZLOOP
#endif
#if HIL_MODE != HIL_MODE_DISABLED && FRAME_CONFIG != HELI_FRAME
// HIL for a copter needs very fast update of the servo values
gcs_send_message(MSG_RADIO_OUT);
#endif
#if MOUNT == ENABLED
// update camera mount's position
camera_mount.update_mount_position();
#endif
#if MOUNT2 == ENABLED
// update camera mount's position
camera_mount2.update_mount_position();
#endif
#if CAMERA == ENABLED
camera.trigger_pic_cleanup();
#endif
# if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motors.armed()) {
Log_Write_Attitude();
#if SECONDARY_DMP_ENABLED == ENABLED
Log_Write_DMP();
#endif
}
if (g.log_bitmask & MASK_LOG_IMU && motors.armed())
DataFlash.Log_Write_IMU(&ins);
#endif
}
// slow_loop - 3.3hz loop
static void slow_loop()
{