From 782ba00d4b460707c21b09d5eb3fbcfc46c3e2c3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 26 Dec 2015 15:08:38 +1100
Subject: [PATCH] Tracker: convert to Hz based task table

---
 AntennaTracker/AntennaTracker.cpp | 37 +++++++++++++------------------
 AntennaTracker/Tracker.h          |  2 --
 AntennaTracker/system.cpp         |  2 +-
 3 files changed, 17 insertions(+), 24 deletions(-)

diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp
index 2a60457149..9d972d761b 100644
--- a/AntennaTracker/AntennaTracker.cpp
+++ b/AntennaTracker/AntennaTracker.cpp
@@ -21,12 +21,7 @@
 
 #include "Tracker.h"
 
-#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\
-    .function = FUNCTOR_BIND(&tracker, &Tracker::func, void),\
-    AP_SCHEDULER_NAME_INITIALIZER(func)\
-    .interval_ticks = _interval_ticks,\
-    .max_time_micros = _max_time_micros,\
-}
+#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Tracker, &tracker, func, _interval_ticks, _max_time_micros)
 
 /*
   scheduler table - all regular tasks apart from the fast_loop()
@@ -35,21 +30,21 @@
   microseconds)
  */
 const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
-    SCHED_TASK(update_ahrs,             1,   1000),
-    SCHED_TASK(read_radio,              1,    200),
-    SCHED_TASK(update_tracking,         1,   1000),
-    SCHED_TASK(update_GPS,              5,   4000),
-    SCHED_TASK(update_compass,          5,   1500),
-    SCHED_TASK(update_barometer,        5,   1500),
-    SCHED_TASK(gcs_update,              1,   1700),
-    SCHED_TASK(gcs_data_stream_send,    1,   3000),
-    SCHED_TASK(compass_accumulate,      1,   1500),
-    SCHED_TASK(barometer_accumulate,    1,    900),
-    SCHED_TASK(update_notify,           1,    100),
-    SCHED_TASK(check_usb_mux,           5,    300),
-    SCHED_TASK(gcs_retry_deferred,      1,   1000),
-    SCHED_TASK(one_second_loop,        50,   3900),
-    SCHED_TASK(compass_cal_update,      1,    100),
+    SCHED_TASK(update_ahrs,            50,   1000),
+    SCHED_TASK(read_radio,             50,    200),
+    SCHED_TASK(update_tracking,        50,   1000),
+    SCHED_TASK(update_GPS,             10,   4000),
+    SCHED_TASK(update_compass,         10,   1500),
+    SCHED_TASK(update_barometer,       10,   1500),
+    SCHED_TASK(gcs_update,             50,   1700),
+    SCHED_TASK(gcs_data_stream_send,   50,   3000),
+    SCHED_TASK(compass_accumulate,     50,   1500),
+    SCHED_TASK(barometer_accumulate,   50,    900),
+    SCHED_TASK(update_notify,          50,    100),
+    SCHED_TASK(check_usb_mux,          10,    300),
+    SCHED_TASK(gcs_retry_deferred,     50,   1000),
+    SCHED_TASK(one_second_loop,         1,   3900),
+    SCHED_TASK(compass_cal_update,     50,    100),
 };
 
 /**
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 40de71c345..b1344cdb5c 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -88,8 +88,6 @@ public:
     void loop() override;
 
 private:
-    const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ;
-
     Parameters g;
 
     // main loop scheduler
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 20927fa287..e9d532f2b8 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -77,7 +77,7 @@ void Tracker::init_tracker()
     ahrs.init();
     ahrs.set_fly_forward(false);
 
-    ins.init(ins_sample_rate);
+    ins.init(scheduler.get_loop_rate_hz());
     ahrs.reset();
 
     init_barometer();