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Rover: update GPS at 50hz

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This commit is contained in:
Randy Mackay 2018-05-23 14:35:37 +09:00
parent cc53b9c39d
commit 24dd9a1c2c
2 changed files with 4 additions and 6 deletions
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7
APMrover2/APMrover2.cpp
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@ -49,8 +49,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(read_rangefinders, 50, 200),
SCHED_TASK(update_current_mode, 50, 200),
SCHED_TASK(set_servos, 50, 200),
SCHED_TASK_CLASS(AP_GPS, &rover.gps, update, 50, 300),
SCHED_TASK(update_GPS_10Hz, 10, 300),
SCHED_TASK(update_GPS, 50, 300),
SCHED_TASK_CLASS(AP_Baro, &rover.barometer, update, 10, 200),
SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 200),
SCHED_TASK_CLASS(AP_Proximity, &rover.g2.proximity, update, 50, 200),
@ -304,9 +303,9 @@ void Rover::one_second_loop(void)
update_sensor_status_flags();
}
void Rover::update_GPS_10Hz(void)
void Rover::update_GPS(void)
{
gps.update();
if (gps.last_message_time_ms() != last_gps_msg_ms) {
last_gps_msg_ms = gps.last_message_time_ms();

3
APMrover2/Rover.h
View File

@ -390,8 +390,7 @@ private:
void update_logging2(void);
void update_aux(void);
void one_second_loop(void);
void update_GPS_50Hz(void);
void update_GPS_10Hz(void);
void update_GPS(void);
void update_current_mode(void);
// capabilities.cpp