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Copter: read rangefinder at 20hz

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This commit is contained in:
Randy Mackay 2016-05-21 10:19:53 +09:00
parent e6b3638d84
commit 5461002eea
2 changed files with 3 additions and 5 deletions
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6
ArduCopter/ArduCopter.cpp
View File

@ -94,7 +94,8 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(arm_motors_check, 10, 50),
SCHED_TASK(auto_disarm_check, 10, 50),
SCHED_TASK(auto_trim, 10, 75),
SCHED_TASK(update_altitude, 10, 140),
SCHED_TASK(read_rangefinder, 20, 100),
SCHED_TASK(update_altitude, 10, 100),
SCHED_TASK(run_nav_updates, 50, 100),
SCHED_TASK(update_thr_average, 100, 90),
SCHED_TASK(three_hz_loop, 3, 75),
@ -613,9 +614,6 @@ void Copter::update_altitude()
// read in baro altitude
read_barometer();
// read in rangefinder altitude
read_rangefinder();
// write altitude info to dataflash logs
if (should_log(MASK_LOG_CTUN)) {
Log_Write_Control_Tuning();

2
ArduCopter/sensors.cpp
View File

@ -60,7 +60,7 @@ void Copter::read_rangefinder(void)
// reset filter if we haven't used it within the last second
rangefinder_state.alt_cm_filt.reset(rangefinder_state.alt_cm);
} else {
rangefinder_state.alt_cm_filt.apply(rangefinder_state.alt_cm, 0.1f);
rangefinder_state.alt_cm_filt.apply(rangefinder_state.alt_cm, 0.05f);
}
rangefinder_state.last_healthy_ms = now;
}