mirror of https://github.com/ArduPilot/ardupilot
Plane: added compass and baro accumulate functions
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@ -661,7 +661,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
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{ update_compass, 5, 1500 },
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{ update_compass, 5, 1500 },
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{ read_airspeed, 5, 1500 },
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{ read_airspeed, 5, 1500 },
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{ read_control_switch, 15, 1000 },
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{ read_control_switch, 15, 1000 },
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{ update_alt, 5, 3000 },
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{ update_alt, 5, 3200 },
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{ calc_altitude_error, 5, 1000 },
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{ calc_altitude_error, 5, 1000 },
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{ update_commands, 5, 7000 },
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{ update_commands, 5, 7000 },
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{ update_mount, 1, 1500 },
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{ update_mount, 1, 1500 },
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@ -669,6 +669,8 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
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{ update_events, 15, 1500 },
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{ update_events, 15, 1500 },
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{ check_usb_mux, 5, 1000 },
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{ check_usb_mux, 5, 1000 },
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{ read_battery, 5, 1000 },
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{ read_battery, 5, 1000 },
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{ compass_accumulate, 1, 1000 },
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{ barometer_accumulate, 1, 900 },
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{ one_second_loop, 50, 3000 },
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{ one_second_loop, 50, 3000 },
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{ update_logging, 5, 1000 },
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{ update_logging, 5, 1000 },
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{ read_receiver_rssi, 5, 1000 },
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{ read_receiver_rssi, 5, 1000 },
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@ -828,6 +830,24 @@ static void update_compass(void)
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}
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}
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}
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}
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/*
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if the compass is enabled then try to accumulate a reading
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*/
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static void compass_accumulate(void)
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{
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if (g.compass_enabled) {
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compass.accumulate();
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}
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}
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/*
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try to accumulate a baro reading
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*/
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static void barometer_accumulate(void)
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{
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barometer.accumulate();
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}
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/*
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/*
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do 10Hz logging
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do 10Hz logging
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*/
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*/
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