aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Vehicle: run prearm checks on all vehicles @1Hz, displaying @0.0333Hz

Browse Source
This commit is contained in:
Peter Barker 2022-05-10 17:53:32 +10:00 committed by Randy Mackay
parent 53e8ab6af8
commit 8402149572
2 changed files with 10 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_Vehicle/AP_Vehicle.cpp
View File

@ -304,6 +304,7 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
#if HAL_EFI_ENABLED
SCHED_TASK_CLASS(AP_EFI, &vehicle.efi, update, 10, 200, 250),
#endif
SCHED_TASK(update_arming, 1, 50, 253),
};
void AP_Vehicle::get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks)
@ -592,6 +593,12 @@ void AP_Vehicle::accel_cal_update()
}
#endif // HAL_INS_ACCELCAL_ENABLED
// call the arming library's update function
void AP_Vehicle::update_arming()
{
AP::arming().update();
}
AP_Vehicle *AP_Vehicle::_singleton = nullptr;
AP_Vehicle *AP_Vehicle::get_singleton()

3
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -393,6 +393,9 @@ protected:
void accel_cal_update();
#endif
// call the arming library's update function
void update_arming();
ModeReason control_mode_reason = ModeReason::UNKNOWN;
#if AP_SIM_ENABLED