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Plane: call ins's periodic function

This commit is contained in:
Peter Barker 2017-10-04 11:13:46 +11:00 committed by Andrew Tridgell
parent 6d32fb7f2a
commit d49be616da
2 changed files with 7 additions and 0 deletions
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6
ArduPlane/ArduPlane.cpp
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@ -80,6 +80,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(terrain_update, 10, 200), SCHED_TASK(terrain_update, 10, 200),
SCHED_TASK(update_is_flying_5Hz, 5, 100), SCHED_TASK(update_is_flying_5Hz, 5, 100),
SCHED_TASK(dataflash_periodic, 50, 400), SCHED_TASK(dataflash_periodic, 50, 400),
SCHED_TASK(ins_periodic, 50, 50),
SCHED_TASK(avoidance_adsb_update, 10, 100), SCHED_TASK(avoidance_adsb_update, 10, 100),
SCHED_TASK(button_update, 5, 100), SCHED_TASK(button_update, 5, 100),
SCHED_TASK(stats_update, 1, 100), SCHED_TASK(stats_update, 1, 100),
@ -405,6 +406,11 @@ void Plane::terrain_update(void)
} }
void Plane::ins_periodic(void)
{
ins.periodic();
}
void Plane::dataflash_periodic(void) void Plane::dataflash_periodic(void)
{ {
DataFlash.periodic_tasks(); DataFlash.periodic_tasks();

1
ArduPlane/Plane.h
View File

@ -1073,6 +1073,7 @@ private:
void notify_flight_mode(enum FlightMode mode); void notify_flight_mode(enum FlightMode mode);
void log_init(); void log_init();
void init_capabilities(void); void init_capabilities(void);
void ins_periodic();
void dataflash_periodic(void); void dataflash_periodic(void);
void parachute_check(); void parachute_check();
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED