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Copter: move NTUN logging to 10hz loop

This commit is contained in:
Randy Mackay 2014-01-22 12:56:07 +09:00 committed by Andrew Tridgell
parent 8e08a1f8ab
commit dc6f622d48
2 changed files with 3 additions and 21 deletions
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5
ArduCopter/ArduCopter.pde
View File

@ -858,7 +858,6 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ rc_loop, 4, 10 },
{ throttle_loop, 8, 45 },
{ update_GPS, 8, 90 },
{ update_nav_mode, 4, 40 },
{ update_batt_compass, 40, 72 },
{ read_aux_switches, 40, 5 },
{ arm_motors_check, 40, 1 },
@ -913,7 +912,6 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ rc_loop, 1, 100 },
{ throttle_loop, 2, 450 },
{ update_GPS, 2, 900 },
{ update_nav_mode, 1, 400 },
{ update_batt_compass, 10, 720 },
{ read_aux_switches, 10, 50 },
{ arm_motors_check, 10, 10 },
@ -1169,6 +1167,9 @@ static void ten_hz_logging_loop()
if (g.log_bitmask & MASK_LOG_RCOUT) {
DataFlash.Log_Write_RCOUT();
}
if (g.log_bitmask & MASK_LOG_NTUN && mode_requires_GPS(control_mode)) {
Log_Write_Nav_Tuning();
}
}
// fifty_hz_logging_loop

19
ArduCopter/navigation.pde
View File

@ -121,8 +121,6 @@ static bool set_nav_mode(uint8_t new_nav_mode)
// called at 100hz
static void update_nav_mode()
{
static uint8_t log_counter; // used to slow NTUN logging
// exit immediately if not auto_armed or inertial nav position bad
if (!ap.auto_armed || !inertial_nav.position_ok()) {
return;
@ -139,28 +137,11 @@ static void update_nav_mode()
update_circle();
break;
case NAV_LOITER:
// reset target if we are still on the ground
if (ap.land_complete) {
wp_nav.init_loiter_target();
}else{
// call loiter controller
wp_nav.update_loiter();
}
break;
case NAV_WP:
// call waypoint controller
wp_nav.update_wpnav();
break;
}
// log to dataflash at 10hz
log_counter++;
if (log_counter >= 10 && (g.log_bitmask & MASK_LOG_NTUN) && nav_mode != NAV_NONE) {
log_counter = 0;
Log_Write_Nav_Tuning();
}
}
// Keeps old data out of our calculation / logs