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Copter: update precland at 400hz, log at 25hz

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This commit is contained in:
Jonathan Challinger 2016-07-05 14:48:59 -07:00 committed by Randy Mackay
parent 630e5378da
commit 0f4367744f
2 changed files with 6 additions and 4 deletions
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7
ArduCopter/ArduCopter.cpp
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@ -102,7 +102,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(compass_accumulate, 100, 100), SCHED_TASK(compass_accumulate, 100, 100),
SCHED_TASK(barometer_accumulate, 50, 90), SCHED_TASK(barometer_accumulate, 50, 90),
#if PRECISION_LANDING == ENABLED #if PRECISION_LANDING == ENABLED
SCHED_TASK(update_precland, 50, 50), SCHED_TASK(update_precland, 400, 50),
#endif #endif
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
SCHED_TASK(check_dynamic_flight, 50, 75), SCHED_TASK(check_dynamic_flight, 50, 75),
@ -428,6 +428,11 @@ void Copter::twentyfive_hz_logging()
DataFlash.Log_Write_IMU(ins); DataFlash.Log_Write_IMU(ins);
} }
#endif #endif
#if PRECISION_LANDING == ENABLED
// log output
Log_Write_Precland();
#endif
} }
void Copter::dataflash_periodic(void) void Copter::dataflash_periodic(void)

3
ArduCopter/precision_landing.cpp
View File

@ -23,8 +23,5 @@ void Copter::update_precland()
} }
copter.precland.update(final_alt); copter.precland.update(final_alt);
// log output
Log_Write_Precland();
} }
#endif #endif