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Copter: added main_loop_ready() function

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this tells us when the main loop is ready to run. MAVLink won't send a
message if the main loop could run.
This commit is contained in:
Andrew Tridgell 2013-01-07 11:02:50 +11:00
parent b39166b71a
commit d952ccf968
2 changed files with 19 additions and 3 deletions
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15
ArduCopter/ArduCopter.pde
View File

@ -927,15 +927,24 @@ void setup() {
init_ardupilot();
}
/*
return true if the main loop is ready to run. This is used by
potentially expensive functions that are not timing critical, to
defer the expensive processing until after the main loop has run.
*/
static bool main_loop_ready(void)
{
return ins.num_samples_available() >= 2;
}
void loop()
{
uint32_t timer = micros();
uint16_t num_samples;
// We want this to execute fast
// ----------------------------
num_samples = ins.num_samples_available();
if (num_samples >= 2) {
if (main_loop_ready()) {
#if DEBUG_FAST_LOOP == ENABLED
Log_Write_Data(DATA_FAST_LOOP, (int32_t)(timer - fast_loopTimer));

7
ArduCopter/GCS_Mavlink.pde
View File

@ -543,6 +543,13 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
return false;
}
// if the ins has new data for the main loop then don't send a
// mavlink message. We want to prioritise the main flight control
// loop over communications
if (main_loop_ready()) {
return false;
}
switch(id) {
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);