Rover: use AP_Scheduler's loop() function

APMrover2/APMrover2.cpp

@@ -116,10 +116,6 @@ void Rover::setup()
 
     // initialise the main loop scheduler
     scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks));
-
-    // setup initial performance counters
-    perf_info.set_loop_rate(scheduler.get_loop_rate_hz());
-    perf_info.reset();
 }
 
 /*
@@ -127,30 +123,8 @@ void Rover::setup()
  */
 void Rover::loop()
 {
-    // wait for an INS sample
-    ins.wait_for_sample();
-
-    const uint32_t timer = AP_HAL::micros();
-
-    // check loop time
-    perf_info.check_loop_time(timer - fast_loopTimer_us);
-
-    G_Dt                = (timer - fast_loopTimer_us) * 1.0e-6f;
-    fast_loopTimer_us   = timer;
-
-    // tell the scheduler one tick has passed
-    scheduler.tick();
-
-    // run all the tasks that are due to run. Note that we only
-    // have to call this once per loop, as the tasks are scheduled
-    // in multiples of the main loop tick. So if they don't run on
-    // the first call to the scheduler they won't run on a later
-    // call until scheduler.tick() is called again
-    uint32_t remaining = (timer + 20000) - micros();
-    if (remaining > 19500) {
-        remaining = 19500;
-    }
-    scheduler.run(remaining);
+    scheduler.loop();
+    G_Dt = scheduler.last_loop_time;
 }
 
 void Rover::update_soft_armed()

APMrover2/Log.cpp

@@ -24,9 +24,9 @@ void Rover::Log_Write_Performance()
     struct log_Performance pkt = {
         LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
         time_us         : AP_HAL::micros64(),
-        num_long_running : perf_info.get_num_long_running(),
-        num_loops        : perf_info.get_num_loops(),
-        max_time         : perf_info.get_max_time(),
+        num_long_running : scheduler.perf_info.get_num_long_running(),
+        num_loops        : scheduler.perf_info.get_num_loops(),
+        max_time         : scheduler.perf_info.get_max_time(),
         gyro_drift_x    : (int16_t)(ahrs.get_gyro_drift().x * 1000),
         gyro_drift_y    : (int16_t)(ahrs.get_gyro_drift().y * 1000),
         gyro_drift_z    : (int16_t)(ahrs.get_gyro_drift().z * 1000),

APMrover2/Rover.h

@@ -59,7 +59,6 @@
 #include <AP_Relay/AP_Relay.h>                      // APM relay
 #include <AP_RSSI/AP_RSSI.h>                        // RSSI Library
 #include <AP_Scheduler/AP_Scheduler.h>              // main loop scheduler
-#include <AP_Scheduler/PerfInfo.h>                  // loop perf monitoring
 #include <AP_SerialManager/AP_SerialManager.h>      // Serial manager library
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
 #include <AP_Stats/AP_Stats.h>                      // statistics library
@@ -213,9 +212,6 @@ private:
 
     AP_ServoRelayEvents ServoRelayEvents{relay};
 
-    // loop performance monitoring:
-    AP::PerfInfo perf_info;
-
     // The rover's current location
     struct Location current_loc;
 
@@ -334,10 +330,6 @@ private:
     // This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
     float G_Dt;
 
-    // System Timers
-    // Time in microseconds of start of main control loop.
-    uint32_t fast_loopTimer_us;
-
     // set if we are driving backwards
     bool in_reverse;