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ACM: use spare CPU cycles to read the magnetometer

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Andrew Tridgell 2012-09-08 13:07:16 +10:00 committed by rmackay9
parent 8624b0138e
commit ea78121f1b
1 changed files with 14 additions and 1 deletions
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15
ArduCopter/ArduCopter.pde
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@ -982,10 +982,12 @@ void loop()
{
uint32_t timer = micros();
static bool run_50hz_loop = false;
uint16_t num_samples;
// We want this to execute fast
// ----------------------------
if( imu.num_samples_available() >= NUM_IMU_SAMPLES_FOR_100HZ ) {
num_samples = imu.num_samples_available();
if (num_samples >= NUM_IMU_SAMPLES_FOR_100HZ) {
#if DEBUG_FAST_LOOP == ENABLED
Log_Write_Data(50, (int32_t)(timer - fast_loopTimer));
@ -1055,6 +1057,17 @@ void loop()
#ifdef DESKTOP_BUILD
usleep(1000);
#endif
if (num_samples < NUM_IMU_SAMPLES_FOR_100HZ-1) {
// we have some spare cycles available
// less than 20ms has passed. We have at least one millisecond
// of free time. The most useful thing to do with that time is
// to accumulate some sensor readings, specifically the
// compass, which is often very noisy but is not interrupt
// driven, so it can't accumulate readings by itself
if (g.compass_enabled) {
compass.accumulate();
}
}
}
// port manipulation for external timing of main loops