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AP_Vehicle: separate gyrofft gyro sampling from fft initiation

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move FFT gyro sampling into fast loop for all vehicles
rename FFT update method
This commit is contained in:
Andy Piper 2020-03-07 10:49:59 +00:00 committed by Andrew Tridgell
parent 13e40a3002
commit d873ec4533
2 changed files with 12 additions and 2 deletions
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12
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -113,6 +113,16 @@ void AP_Vehicle::loop()
G_Dt = scheduler.get_loop_period_s(); G_Dt = scheduler.get_loop_period_s();
} }
/*
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
}
/* /*
common scheduler table for fast CPUs - all common vehicle tasks common scheduler table for fast CPUs - all common vehicle tasks
should be listed here, along with how often they should be called (in hz) should be listed here, along with how often they should be called (in hz)
@ -123,7 +133,7 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_RunCam, &vehicle.runcam, update, 50, 50), SCHED_TASK_CLASS(AP_RunCam, &vehicle.runcam, update, 50, 50),
#endif #endif
#if HAL_GYROFFT_ENABLED #if HAL_GYROFFT_ENABLED
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, sample_gyros, LOOP_RATE, 50), SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update, 400, 50),
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update_parameters, 1, 50), SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update_parameters, 1, 50),
#endif #endif
SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20), SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20),

2
libraries/AP_Vehicle/AP_Vehicle.h
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@ -190,7 +190,7 @@ protected:
// main loop scheduler // main loop scheduler
AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&AP_Vehicle::fast_loop, void)}; AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&AP_Vehicle::fast_loop, void)};
virtual void fast_loop() { } virtual void fast_loop();
// IMU variables // IMU variables
// Integration time; time last loop took to run // Integration time; time last loop took to run