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ArduCopter: modified mainloop timing to be in sync with the arrival of new data from the IMU. 

This reduces the maximum delay between when new sensor data arrives and when it is actually used by about 5ms.
This commit is contained in:
rmackay9 2012-08-30 16:53:04 +09:00
parent 42406c827a
commit fd110a2723
1 changed files with 58 additions and 59 deletions
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117
ArduCopter/ArduCopter.pde
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@ -899,7 +899,7 @@ static byte gps_watchdog;
// Time in microseconds of main control loop
static uint32_t fast_loopTimer;
// Time in microseconds of 50hz control loop
static uint32_t fiftyhz_loopTimer;
static uint32_t fiftyhz_loopTimer = 0;
// Counters for branching from 10 hz control loop
static byte medium_loopCounter;
// Counters for branching from 3 1/3hz control loop
@ -981,11 +981,12 @@ void setup() {
void loop()
{
uint32_t timer = micros();
bool spare_time = true;
static bool run_50hz_loop = false;
// We want this to execute fast
// ----------------------------
if ((timer - fast_loopTimer) >= 10000 && imu.new_data_available()) {
if( imu.num_samples_available() >= NUM_IMU_SAMPLES_FOR_100HZ ) {
#if DEBUG_FAST_LOOP == ENABLED
Log_Write_Data(50, (int32_t)(timer - fast_loopTimer));
#endif
@ -996,8 +997,60 @@ void loop()
// Execute the fast loop
// ---------------------
fast_loop();
spare_time = false;
fast_loop();////
// run the 50hz loop 1/2 the time
run_50hz_loop = !run_50hz_loop;
if( run_50hz_loop ) {
#if DEBUG_MED_LOOP == ENABLED
Log_Write_Data(51, (int32_t)(timer - fiftyhz_loopTimer));
#endif
// store the micros for the 50 hz timer
fiftyhz_loopTimer = timer;
// port manipulation for external timing of main loops
//PORTK |= B01000000;
// reads all of the necessary trig functions for cameras, throttle, etc.
// --------------------------------------------------------------------
update_trig();
// Rotate the Nav_lon and nav_lat vectors based on Yaw
// ---------------------------------------------------
calc_loiter_pitch_roll();
// check for new GPS messages
// --------------------------
update_GPS();
// perform 10hz tasks
// ------------------
medium_loop();
// Stuff to run at full 50hz, but after the med loops
// --------------------------------------------------
fifty_hz_loop();
counter_one_herz++;
// trgger our 1 hz loop
if(counter_one_herz >= 50) {
super_slow_loop();
counter_one_herz = 0;
}
perf_mon_counter++;
if (perf_mon_counter > 600 ) {
if (g.log_bitmask & MASK_LOG_PM)
Log_Write_Performance();
gps_fix_count = 0;
perf_mon_counter = 0;
}
//PORTK &= B10111111;
}
} else {
#ifdef DESKTOP_BUILD
usleep(1000);
@ -1007,60 +1060,6 @@ void loop()
// port manipulation for external timing of main loops
//PORTK &= B11101111;
if ((timer - fiftyhz_loopTimer) >= 20000) {
#if DEBUG_MED_LOOP == ENABLED
Log_Write_Data(51, (int32_t)(timer - fiftyhz_loopTimer));
#endif
// store the micros for the 50 hz timer
fiftyhz_loopTimer = timer;
// port manipulation for external timing of main loops
//PORTK |= B01000000;
// reads all of the necessary trig functions for cameras, throttle, etc.
// --------------------------------------------------------------------
update_trig();
// Rotate the Nav_lon and nav_lat vectors based on Yaw
// ---------------------------------------------------
calc_loiter_pitch_roll();
// check for new GPS messages
// --------------------------
update_GPS();
// perform 10hz tasks
// ------------------
medium_loop();
// Stuff to run at full 50hz, but after the med loops
// --------------------------------------------------
fifty_hz_loop();
counter_one_herz++;
// trgger our 1 hz loop
if(counter_one_herz >= 50) {
super_slow_loop();
counter_one_herz = 0;
}
perf_mon_counter++;
if (perf_mon_counter > 600 ) {
if (g.log_bitmask & MASK_LOG_PM)
Log_Write_Performance();
gps_fix_count = 0;
perf_mon_counter = 0;
}
//PORTK &= B10111111;
spare_time = false;
}
if (spare_time && g.compass_enabled) {
compass.accumulate();
}
}
// PORTK |= B01000000;
// PORTK &= B10111111;