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AP_Vehicle: add task info for fast loop

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move fast loop tasks into scheduler table
remove fast loop
This commit is contained in:
Andy Piper 2022-04-01 20:56:39 +01:00 committed by Randy Mackay
parent 01766eee01
commit cc2acc35a6
2 changed files with 4 additions and 12 deletions
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13
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -246,16 +246,6 @@ void AP_Vehicle::loop()
}
}
/*
fast loop callback for all vehicles. This will get called at the end of any vehicle-specific fast loop.
*/
void AP_Vehicle::fast_loop()
{
#if HAL_GYROFFT_ENABLED
gyro_fft.sample_gyros();
#endif
}
/*
scheduler table - all regular tasks apart from the fast_loop()
should be listed here.
@ -283,6 +273,9 @@ SCHED_TASK_CLASS arguments:
*/
const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
#if HAL_GYROFFT_ENABLED
FAST_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, sample_gyros),
#endif
#if AP_AIRSPEED_ENABLED
SCHED_TASK_CLASS(AP_Airspeed, &vehicle.airspeed, update, 10, 100, 41), // NOTE: the priority number here should be right before Plane's calc_airspeed_errors
#endif

3
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -307,8 +307,7 @@ protected:
#endif
// main loop scheduler
AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&AP_Vehicle::fast_loop, void)};
virtual void fast_loop();
AP_Scheduler scheduler;
// IMU variables
// Integration time; time last loop took to run