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Copter: call ins periodic function

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Peter Barker 2017-10-04 10:44:24 +11:00 committed by Andrew Tridgell
parent 9566abb3a8
commit c7216a2740
2 changed files with 7 additions and 0 deletions
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6
ArduCopter/ArduCopter.cpp
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@ -127,6 +127,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(ten_hz_logging_loop, 10, 350),
SCHED_TASK(twentyfive_hz_logging, 25, 110),
SCHED_TASK(dataflash_periodic, 400, 300),
SCHED_TASK(ins_periodic, 400, 50),
SCHED_TASK(perf_update, 0.1, 75),
SCHED_TASK(read_receiver_rssi, 10, 75),
SCHED_TASK(rpm_update, 10, 200),
@ -440,6 +441,11 @@ void Copter::dataflash_periodic(void)
DataFlash.periodic_tasks();
}
void Copter::ins_periodic(void)
{
ins.periodic();
}
// three_hz_loop - 3.3hz loop
void Copter::three_hz_loop()
{

1
ArduCopter/Copter.h
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@ -1160,6 +1160,7 @@ private:
void log_init(void);
void init_capabilities(void);
void dataflash_periodic(void);
void ins_periodic();
void accel_cal_update(void);
public: