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Rover: windvane update called from scheduler at 20hz

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This commit is contained in:
Randy Mackay 2018-09-26 21:30:59 +09:00
parent 31e2d5d2ad
commit 4a5b56c929
3 changed files with 1 additions and 7 deletions
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2
APMrover2/APMrover2.cpp
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@ -53,6 +53,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
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),
SCHED_TASK_CLASS(AP_WindVane, &rover.g2.windvane, update, 20, 100),
SCHED_TASK(update_visual_odom, 50, 200),
SCHED_TASK(update_wheel_encoder, 50, 200),
SCHED_TASK(update_compass, 10, 200),
@ -95,7 +96,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
#if ADVANCED_FAILSAFE == ENABLED
SCHED_TASK(afs_fs_check, 10, 200),
#endif
SCHED_TASK(windvane_update, 10, 200),
};
void Rover::read_mode_switch()

1
APMrover2/Rover.h
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@ -525,7 +525,6 @@ private:
void accel_cal_update(void);
void read_rangefinders(void);
void init_proximity();
void windvane_update();
void update_sensor_status_flags(void);
// Steering.cpp

5
APMrover2/sensors.cpp
View File

@ -241,11 +241,6 @@ void Rover::init_proximity(void)
g2.proximity.set_rangefinder(&rangefinder);
}
void Rover::windvane_update()
{
g2.windvane.update();
}
// update error mask of sensors and subsystems. The mask
// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
// then it indicates that the sensor or subsystem is present but