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Rover: GPS now logs its own data

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Peter Barker 2018-04-11 22:16:43 +10:00 committed by Randy Mackay
parent 643e7e039a
commit e73a02343a
1 changed files with 1 additions and 17 deletions
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18
APMrover2/APMrover2.cpp
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@ -49,7 +49,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(read_rangefinders, 50, 200),
SCHED_TASK(update_current_mode, 50, 200),
SCHED_TASK(set_servos, 50, 200),
SCHED_TASK(update_GPS_50Hz, 50, 300),
SCHED_TASK_CLASS(AP_GPS, &rover.gps, update, 50, 300),
SCHED_TASK(update_GPS_10Hz, 10, 300),
SCHED_TASK_CLASS(AP_Baro, &rover.barometer, update, 10, 200),
SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 200),
@ -300,22 +300,6 @@ void Rover::one_second_loop(void)
update_sensor_status_flags();
}
void Rover::update_GPS_50Hz(void)
{
static uint32_t last_gps_reading[GPS_MAX_INSTANCES];
gps.update();
for (uint8_t i=0; i < gps.num_sensors(); i++) {
if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
last_gps_reading[i] = gps.last_message_time_ms(i);
if (should_log(MASK_LOG_GPS)) {
DataFlash.Log_Write_GPS(gps, i);
}
}
}
}
void Rover::update_GPS_10Hz(void)
{
have_position = ahrs.get_position(current_loc);