Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: higher priority for throttle loop, lower telemetry

This commit is contained in:
Randy Mackay 2013-10-11 17:03:26 +09:00
parent 9833900f91
commit e9cefbafd1
1 changed files with 27 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

43
ArduCopter/ArduCopter.pde
View File

@ -863,21 +863,23 @@ AP_Param param_loader(var_info, WP_START_BYTE);
microseconds) microseconds)
*/ */
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = { static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ throttle_loop, 2, 450 },
{ update_GPS, 2, 900 }, { update_GPS, 2, 900 },
{ update_nav_mode, 1, 400 }, { update_nav_mode, 1, 400 },
{ medium_loop, 2, 700 }, { medium_loop, 2, 700 },
{ update_altitude, 10, 1000 }, { update_altitude, 10, 1000 },
{ fifty_hz_loop, 2, 950 },
{ run_nav_updates, 10, 800 }, { run_nav_updates, 10, 800 },
{ slow_loop, 10, 500 }, { slow_loop, 10, 500 },
{ gcs_check_input, 2, 700 },
{ gcs_send_heartbeat, 100, 700 },
{ gcs_data_stream_send, 2, 1500 },
{ gcs_send_deferred, 2, 1200 },
{ compass_accumulate, 2, 700 }, { compass_accumulate, 2, 700 },
{ barometer_accumulate, 2, 900 }, { barometer_accumulate, 2, 900 },
{ super_slow_loop, 100, 1100 },
{ update_notify, 2, 100 }, { update_notify, 2, 100 },
{ super_slow_loop, 100, 1100 },
{ gcs_check_input, 2, 700 },
{ gcs_send_heartbeat, 100, 700 },
{ gcs_send_deferred, 2, 1200 },
{ gcs_data_stream_send, 2, 1500 },
{ camera_loop, 2, 50 }, // times not verified
{ fifty_hz_logging_loop, 2, 220 },
{ perf_update, 1000, 500 } { perf_update, 1000, 500 }
}; };
@ -1050,9 +1052,9 @@ static void fast_loop()
#endif #endif
} }
// stuff that happens at 50 hz // throttle_loop - should be run at 50 hz
// --------------------------- // ---------------------------
static void fifty_hz_loop() static void throttle_loop()
{ {
// get altitude and climb rate from inertial lib // get altitude and climb rate from inertial lib
read_inertial_altitude(); read_inertial_altitude();
@ -1074,13 +1076,12 @@ static void fifty_hz_loop()
#ifdef USERHOOK_50HZLOOP #ifdef USERHOOK_50HZLOOP
USERHOOK_50HZLOOP USERHOOK_50HZLOOP
#endif #endif
}
// camera features
#if HIL_MODE != HIL_MODE_DISABLED && FRAME_CONFIG != HELI_FRAME // should be run at 50hz
// HIL for a copter needs very fast update of the servo values static void camera_loop()
gcs_send_message(MSG_RADIO_OUT); {
#endif
#if MOUNT == ENABLED #if MOUNT == ENABLED
// update camera mount's position // update camera mount's position
camera_mount.update_mount_position(); camera_mount.update_mount_position();
@ -1094,16 +1095,26 @@ static void fifty_hz_loop()
#if CAMERA == ENABLED #if CAMERA == ENABLED
camera.trigger_pic_cleanup(); camera.trigger_pic_cleanup();
#endif #endif
}
// fifty_hz_logging_loop
// should be run at 50hz
static void fifty_hz_logging_loop()
{
#if HIL_MODE != HIL_MODE_DISABLED
// HIL for a copter needs very fast update of the servo values
gcs_send_message(MSG_RADIO_OUT);
#endif
# if HIL_MODE == HIL_MODE_DISABLED # if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motors.armed()) { if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motors.armed()) {
Log_Write_Attitude(); Log_Write_Attitude();
} }
if (g.log_bitmask & MASK_LOG_IMU && motors.armed()) if (g.log_bitmask & MASK_LOG_IMU && motors.armed()) {
DataFlash.Log_Write_IMU(&ins); DataFlash.Log_Write_IMU(&ins);
}
#endif #endif
} }
// medium_loop - runs at 10hz // medium_loop - runs at 10hz