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https://github.com/ArduPilot/ardupilot
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f9d43f4c3e
this ensures if loop() takes more than 1 second, the main task gets its priority dropped until loop() completes
23 lines
450 B
C++
23 lines
450 B
C++
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#ifndef __AP_HAL_PX4_CLASS_H__
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#define __AP_HAL_PX4_CLASS_H__
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <AP_HAL_PX4.h>
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#include "AP_HAL_PX4_Namespace.h"
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#include <systemlib/perf_counter.h>
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class HAL_PX4 : public AP_HAL::HAL {
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public:
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HAL_PX4();
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void init(int argc, char * const argv[]) const;
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};
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extern const HAL_PX4 AP_HAL_PX4;
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#endif // __AP_HAL_PX4_CLASS_H__
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