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Rover: switch to IMU driven timing, same as ArduPlane

This commit is contained in:
Andrew Tridgell 2012-11-30 06:39:58 +11:00
parent 4f868e04cc
commit cd5ad49417
1 changed files with 13 additions and 4 deletions
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17
APMrover2/APMrover2.pde
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@ -605,9 +605,9 @@ void setup() {
void loop()
{
// We want this to execute at 50Hz if possible
// -------------------------------------------
if (millis()-fast_loopTimer > 19) {
// We want this to execute at 50Hz, but synchronised with the gyro/accel
uint16_t num_samples = ins.num_samples_available();
if (num_samples >= 1) {
delta_ms_fast_loop = millis() - fast_loopTimer;
load = (float)(fast_loopTimeStamp - fast_loopTimer)/delta_ms_fast_loop;
G_Dt = (float)delta_ms_fast_loop / 1000.f;
@ -642,7 +642,16 @@ void loop()
}
fast_loopTimeStamp = millis();
}
} else if (millis() - fast_loopTimeStamp < 19) {
// less than 19ms has passed. We have at least one millisecond
// of free time. The most useful thing to do with that time is
// to accumulate some sensor readings, specifically the
// compass, which is often very noisy but is not interrupt
// driven, so it can't accumulate readings by itself
if (g.compass_enabled) {
compass.accumulate();
}
}
}
// Main loop 50Hz