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Rover: use scheduler ticks in place of mainloop_count

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Peter Barker 2017-11-13 16:58:44 +11:00 committed by Andrew Tridgell
parent e713802c24
commit 211e7416a9
3 changed files with 4 additions and 8 deletions
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3
APMrover2/APMrover2.cpp
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@ -138,9 +138,6 @@ void Rover::loop()
G_Dt = (timer - fast_loopTimer_us) * 1.0e-6f; G_Dt = (timer - fast_loopTimer_us) * 1.0e-6f;
fast_loopTimer_us = timer; fast_loopTimer_us = timer;
// for mainloop failure monitoring
mainLoop_count++;
// tell the scheduler one tick has passed // tell the scheduler one tick has passed
scheduler.tick(); scheduler.tick();

2
APMrover2/Rover.h
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@ -337,8 +337,6 @@ private:
// System Timers // System Timers
// Time in microseconds of start of main control loop. // Time in microseconds of start of main control loop.
uint32_t fast_loopTimer_us; uint32_t fast_loopTimer_us;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
uint16_t mainLoop_count;
// set if we are driving backwards // set if we are driving backwards
bool in_reverse; bool in_reverse;

7
APMrover2/failsafe.cpp
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@ -16,13 +16,14 @@
*/ */
void Rover::failsafe_check() void Rover::failsafe_check()
{ {
static uint16_t last_mainLoop_count; static uint16_t last_ticks;
static uint32_t last_timestamp; static uint32_t last_timestamp;
const uint32_t tnow = AP_HAL::micros(); const uint32_t tnow = AP_HAL::micros();
if (mainLoop_count != last_mainLoop_count) { const uint16_t ticks = scheduler.ticks();
if (ticks != last_ticks) {
// the main loop is running, all is OK // the main loop is running, all is OK
last_mainLoop_count = mainLoop_count; last_ticks = ticks;
last_timestamp = tnow; last_timestamp = tnow;
return; return;
} }