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Sub: remove shims used in scheduler table

This commit is contained in:
Peter Barker 2018-02-12 20:38:06 +11:00 committed by Lucas De Marchi
parent 755b1cdced
commit ecb805768b
5 changed files with 12 additions and 68 deletions
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51
ArduSub/ArduSub.cpp
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@ -36,21 +36,23 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
SCHED_TASK(three_hz_loop, 3, 75),
SCHED_TASK(update_turn_counter, 10, 50),
SCHED_TASK(compass_accumulate, 100, 100),
SCHED_TASK(barometer_accumulate, 50, 90),
SCHED_TASK(update_notify, 50, 90),
SCHED_TASK_CLASS(AP_Baro, &sub.barometer, accumulate, 50, 90),
SCHED_TASK_CLASS(AP_Notify, &sub.notify, update, 50, 90),
SCHED_TASK(one_hz_loop, 1, 100),
SCHED_TASK(gcs_check_input, 400, 180),
SCHED_TASK(gcs_send_heartbeat, 1, 110),
SCHED_TASK(gcs_send_deferred, 50, 550),
SCHED_TASK(gcs_data_stream_send, 50, 550),
SCHED_TASK(update_mount, 50, 75),
#if MOUNT == ENABLED
SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75),
#endif
#if CAMERA == ENABLED
SCHED_TASK(update_trigger, 50, 75),
SCHED_TASK_CLASS(AP_Camera, &sub.camera, update_trigger, 50, 75),
#endif
SCHED_TASK(ten_hz_logging_loop, 10, 350),
SCHED_TASK(twentyfive_hz_logging, 25, 110),
SCHED_TASK(dataflash_periodic, 400, 300),
SCHED_TASK(ins_periodic, 400, 50),
SCHED_TASK_CLASS(DataFlash_Class, &sub.DataFlash, periodic_tasks, 400, 300),
SCHED_TASK_CLASS(AP_InertialSensor, &sub.ins, periodic, 400, 50),
SCHED_TASK(perf_update, 0.1, 75),
#if RPM_ENABLED == ENABLED
SCHED_TASK(rpm_update, 10, 200),
@ -59,7 +61,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
SCHED_TASK(accel_cal_update, 10, 100),
SCHED_TASK(terrain_update, 10, 100),
#if GRIPPER_ENABLED == ENABLED
SCHED_TASK(gripper_update, 10, 75),
SCHED_TASK_CLASS(AP_Gripper, &g2.gripper, update, 10, 75),
#endif
#ifdef USERHOOK_FASTLOOP
SCHED_TASK(userhook_FastLoop, 100, 75),
@ -209,31 +211,6 @@ void Sub::fifty_hz_loop()
SRV_Channels::output_ch_all();
}
// updates the status of notify
// should be called at 50hz
void Sub::update_notify()
{
notify.update();
}
// update_mount - update camera mount position
// should be run at 50hz
void Sub::update_mount()
{
#if MOUNT == ENABLED
// update camera mount's position
camera_mount.update();
#endif
}
#if CAMERA == ENABLED
// update camera trigger
void Sub::update_trigger(void)
{
camera.update_trigger();
}
#endif
// update_batt_compass - read battery and compass
// should be called at 10hz
void Sub::update_batt_compass(void)
@ -308,16 +285,6 @@ void Sub::twentyfive_hz_logging()
}
}
void Sub::dataflash_periodic(void)
{
DataFlash.periodic_tasks();
}
void Sub::ins_periodic()
{
ins.periodic();
}
// three_hz_loop - 3.3hz loop
void Sub::three_hz_loop()
{

2
ArduSub/GCS_Mavlink.cpp
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@ -1241,7 +1241,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
AP_Notify::flags.firmware_update = 1;
sub.update_notify();
sub.notify.update();
hal.scheduler->delay(200);
// when packet.param1 == 3 we reboot to hold in bootloader
hal.scheduler->reboot(is_equal(packet.param1,3.0f));

9
ArduSub/Sub.h
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@ -464,7 +464,6 @@ private:
void perf_update(void);
void fast_loop();
void fifty_hz_loop();
void update_mount();
void update_batt_compass(void);
void ten_hz_logging_loop();
void twentyfive_hz_logging();
@ -622,7 +621,6 @@ private:
void update_surface_and_bottom_detector();
void set_surfaced(bool at_surface);
void set_bottomed(bool at_bottom);
void update_notify();
bool init_arm_motors(bool arming_from_gcs);
void init_disarm_motors();
void motors_output();
@ -640,7 +638,6 @@ private:
void clear_input_hold();
void init_barometer(bool save);
void read_barometer(void);
void barometer_accumulate(void);
void init_rangefinder(void);
void read_rangefinder(void);
bool rangefinder_alt_ok(void);
@ -650,9 +647,6 @@ private:
void update_optical_flow(void);
#endif
void read_battery(void);
#if GRIPPER_ENABLED == ENABLED
void gripper_update();
#endif
void terrain_update();
void terrain_logging();
bool terrain_use();
@ -690,7 +684,6 @@ private:
#if CAMERA == ENABLED
void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
void do_digicam_control(const AP_Mission::Mission_Command& cmd);
void update_trigger();
#endif
#if GRIPPER_ENABLED == ENABLED
@ -710,8 +703,6 @@ private:
void auto_spline_start(const Location_Class& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location_Class& next_destination);
void log_init(void);
void init_capabilities(void);
void dataflash_periodic(void);
void ins_periodic();
void accel_cal_update(void);
void failsafe_leak_check();

4
ArduSub/motors.cpp
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@ -33,9 +33,9 @@ bool Sub::init_arm_motors(bool arming_from_gcs)
// notify that arming will occur (we do this early to give plenty of warning)
AP_Notify::flags.armed = true;
// call update_notify a few times to ensure the message gets out
// call notify update a few times to ensure the message gets out
for (uint8_t i=0; i<=10; i++) {
update_notify();
notify.update();
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL

14
ArduSub/sensors.cpp
View File

@ -20,12 +20,6 @@ void Sub::read_barometer(void)
}
}
// try to accumulate a baro reading
void Sub::barometer_accumulate(void)
{
barometer.accumulate();
}
void Sub::init_rangefinder(void)
{
#if RANGEFINDER_ENABLED == ENABLED
@ -206,11 +200,3 @@ void Sub::accel_cal_update()
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
}
#if GRIPPER_ENABLED == ENABLED
// gripper update
void Sub::gripper_update()
{
g2.gripper.update();
}
#endif