From 6f0782abbf4e6ad642a07e4b49616aca2bd96ee2 Mon Sep 17 00:00:00 2001 From: Mirko Denecke Date: Mon, 22 Jun 2020 22:33:36 +0200 Subject: [PATCH] Rover: update_trigger() is now called in AP_Camera update() --- Rover/Rover.cpp | 16 ++-------------- Rover/Rover.h | 4 ---- 2 files changed, 2 insertions(+), 18 deletions(-) diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp index 780677403c..5e0cb06236 100644 --- a/Rover/Rover.cpp +++ b/Rover/Rover.cpp @@ -53,7 +53,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = { SCHED_TASK(read_rangefinders, 50, 200), SCHED_TASK(update_current_mode, 400, 200), SCHED_TASK(set_servos, 400, 200), - SCHED_TASK(update_GPS, 50, 300), + SCHED_TASK_CLASS(AP_GPS, &rover.gps, update, 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), @@ -78,7 +78,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = { SCHED_TASK_CLASS(AP_Mount, &rover.camera_mount, update, 50, 200), #endif #if CAMERA == ENABLED - SCHED_TASK_CLASS(AP_Camera, &rover.camera, update_trigger, 50, 200), + SCHED_TASK_CLASS(AP_Camera, &rover.camera, update, 50, 200), #endif SCHED_TASK(gcs_failsafe_check, 10, 200), SCHED_TASK(fence_check, 10, 200), @@ -328,18 +328,6 @@ void Rover::one_second_loop(void) g2.wp_nav.set_turn_params(g.turn_max_g, g2.turn_radius, g2.motors.have_skid_steering()); } -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(); - -#if CAMERA == ENABLED - camera.update(); -#endif - } -} - void Rover::update_current_mode(void) { // check for emergency stop diff --git a/Rover/Rover.h b/Rover/Rover.h index aaec91148f..64f9fce9d8 100644 --- a/Rover/Rover.h +++ b/Rover/Rover.h @@ -238,9 +238,6 @@ private: // time that rudder/steering arming has been running uint32_t rudder_arm_timer; - // Store the time the last GPS message was received. - uint32_t last_gps_msg_ms{0}; - // latest wheel encoder values float wheel_encoder_last_distance_m[WHEELENCODER_MAX_INSTANCES]; // total distance recorded by wheel encoder (for reporting to GCS) bool wheel_encoder_initialised; // true once arrays below have been initialised to sensors initial values @@ -285,7 +282,6 @@ private: void update_logging1(void); void update_logging2(void); void one_second_loop(void); - void update_GPS(void); void update_current_mode(void); void update_mission(void);