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Plane: added compass and baro accumulate functions

This commit is contained in:
Andrew Tridgell 2013-07-05 12:53:04 +10:00
parent 25f8983383
commit dd330885b8
1 changed files with 21 additions and 1 deletions
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22
ArduPlane/ArduPlane.pde
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@ -661,7 +661,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ update_compass, 5, 1500 },
{ read_airspeed, 5, 1500 },
{ read_control_switch, 15, 1000 },
{ update_alt, 5, 3000 },
{ update_alt, 5, 3200 },
{ calc_altitude_error, 5, 1000 },
{ update_commands, 5, 7000 },
{ update_mount, 1, 1500 },
@ -669,6 +669,8 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ update_events, 15, 1500 },
{ check_usb_mux, 5, 1000 },
{ read_battery, 5, 1000 },
{ compass_accumulate, 1, 1000 },
{ barometer_accumulate, 1, 900 },
{ one_second_loop, 50, 3000 },
{ update_logging, 5, 1000 },
{ read_receiver_rssi, 5, 1000 },
@ -828,6 +830,24 @@ static void update_compass(void)
}
}
/*
if the compass is enabled then try to accumulate a reading
*/
static void compass_accumulate(void)
{
if (g.compass_enabled) {
compass.accumulate();
}
}
/*
try to accumulate a baro reading
*/
static void barometer_accumulate(void)
{
barometer.accumulate();
}
/*
do 10Hz logging
*/