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AC_PrecLand: remove assumption about how precland update method is called 

this method may not be being called from the scheduler table.  Have the callers pass in a true value instead
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Peter Barker 2024-09-22 14:04:32 +10:00 committed by Randy Mackay
parent fd2fd70a8a
commit ee830355d2
1 changed files with 1 additions and 2 deletions
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3
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -4,7 +4,6 @@
#include "AC_PrecLand.h" #include "AC_PrecLand.h"
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include "AC_PrecLand_Backend.h" #include "AC_PrecLand_Backend.h"
@ -226,7 +225,7 @@ void AC_PrecLand::init(uint16_t update_rate_hz)
_lag.set(constrain_float(_lag, 0.02f, 0.25f)); // must match LAG parameter range at line 124 _lag.set(constrain_float(_lag, 0.02f, 0.25f)); // must match LAG parameter range at line 124
// calculate inertial buffer size from lag and minimum of main loop rate and update_rate_hz argument // calculate inertial buffer size from lag and minimum of main loop rate and update_rate_hz argument
const uint16_t inertial_buffer_size = MAX((uint16_t)roundf(_lag * MIN(update_rate_hz, AP::scheduler().get_loop_rate_hz())), 1); const uint16_t inertial_buffer_size = MAX((uint16_t)roundf(_lag * update_rate_hz), 1);
// instantiate ring buffer to hold inertial history, return on failure so no backends are created // instantiate ring buffer to hold inertial history, return on failure so no backends are created
_inertial_history = NEW_NOTHROW ObjectArray<inertial_data_frame_s>(inertial_buffer_size); _inertial_history = NEW_NOTHROW ObjectArray<inertial_data_frame_s>(inertial_buffer_size);