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Tracker: remove shims used in scheduler table

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This commit is contained in:
Peter Barker 2018-02-12 17:01:28 +11:00 committed by Randy Mackay
parent 72b698bf96
commit f86d4466bd
4 changed files with 5 additions and 40 deletions
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20
AntennaTracker/AntennaTracker.cpp
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@ -37,16 +37,16 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
SCHED_TASK(update_tracking, 50, 1000),
SCHED_TASK(update_GPS, 10, 4000),
SCHED_TASK(update_compass, 10, 1500),
SCHED_TASK(update_battery, 10, 1500),
SCHED_TASK_CLASS(AP_BattMonitor, &tracker.battery, read, 10, 1500),
SCHED_TASK(update_barometer, 10, 1500),
SCHED_TASK(gcs_update, 50, 1700),
SCHED_TASK(gcs_data_stream_send, 50, 3000),
SCHED_TASK(compass_accumulate, 50, 1500),
SCHED_TASK(barometer_accumulate, 50, 900),
SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, accumulate, 50, 900),
SCHED_TASK(ten_hz_logging_loop, 10, 300),
SCHED_TASK(dataflash_periodic, 50, 300),
SCHED_TASK(ins_periodic, 50, 50),
SCHED_TASK(update_notify, 50, 100),
SCHED_TASK_CLASS(DataFlash_Class, &tracker.DataFlash, periodic_tasks, 50, 300),
SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins, periodic, 50, 50),
SCHED_TASK_CLASS(AP_Notify, &tracker.notify, update, 50, 100),
SCHED_TASK(check_usb_mux, 10, 300),
SCHED_TASK(gcs_retry_deferred, 50, 1000),
SCHED_TASK(one_second_loop, 1, 3900),
@ -82,16 +82,6 @@ void Tracker::loop()
scheduler.run(19900UL);
}
void Tracker::dataflash_periodic(void)
{
DataFlash.periodic_tasks();
}
void Tracker::ins_periodic()
{
ins.periodic();
}
void Tracker::one_second_loop()
{
// send a heartbeat

5
AntennaTracker/Tracker.h
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@ -198,8 +198,6 @@ private:
static const AP_Param::Info var_info[];
static const struct LogStructure log_structure[];
void dataflash_periodic(void);
void ins_periodic();
void one_second_loop();
void ten_hz_logging_loop();
void send_heartbeat(mavlink_channel_t chan);
@ -226,10 +224,8 @@ private:
void update_barometer(void);
void update_ahrs();
void update_compass(void);
void update_battery(void);
void compass_accumulate(void);
void accel_cal_update(void);
void barometer_accumulate(void);
void update_GPS(void);
void init_servos();
void update_pitch_servo(float pitch);
@ -241,7 +237,6 @@ private:
void update_yaw_cr_servo(float yaw);
void update_yaw_onoff_servo(float yaw);
void init_tracker();
void update_notify();
bool get_home_eeprom(struct Location &loc);
void set_home_eeprom(struct Location temp);
void set_home(struct Location temp);

13
AntennaTracker/sensors.cpp
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@ -43,11 +43,6 @@ void Tracker::update_compass(void)
}
}
void Tracker::update_battery()
{
battery.read();
}
/*
if the compass is enabled then try to accumulate a reading
*/
@ -58,14 +53,6 @@ void Tracker::compass_accumulate(void)
}
}
/*
try to accumulate a baro reading
*/
void Tracker::barometer_accumulate(void)
{
barometer.accumulate();
}
/*
calibrate compass
*/

7
AntennaTracker/system.cpp
View File

@ -122,13 +122,6 @@ void Tracker::init_tracker()
BoardConfig.init_safety();
}
// updates the status of the notify objects
// should be called at 50hz
void Tracker::update_notify()
{
notify.update();
}
/*
fetch HOME from EEPROM
*/