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AP_Vehicle: separate gyrofft gyro sampling from fft initiation

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move FFT gyro sampling into fast loop for all vehicles
rename FFT update method
This commit is contained in:
Andy Piper 2020-03-07 10:49:59 +00:00 committed by Andrew Tridgell
parent 13e40a3002
commit d873ec4533
2 changed files with 12 additions and 2 deletions
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12
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -113,6 +113,16 @@ void AP_Vehicle::loop()
G_Dt = scheduler.get_loop_period_s();
}
/*
fast loop callback for all vehicles. This will get called at the end of any vehicle-specific fast loop.
*/
void AP_Vehicle::fast_loop()
{
#if HAL_GYROFFT_ENABLED
gyro_fft.sample_gyros();
#endif
}
/*
common scheduler table for fast CPUs - all common vehicle tasks
should be listed here, along with how often they should be called (in hz)
@ -123,7 +133,7 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_RunCam, &vehicle.runcam, update, 50, 50),
#endif
#if HAL_GYROFFT_ENABLED
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, sample_gyros, LOOP_RATE, 50),
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update, 400, 50),
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update_parameters, 1, 50),
#endif
SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20),

2
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -190,7 +190,7 @@ protected:
// main loop scheduler
AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&AP_Vehicle::fast_loop, void)};
virtual void fast_loop() { }
virtual void fast_loop();
// IMU variables
// Integration time; time last loop took to run