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Rover: use ins.wait_for_sample()

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This commit is contained in:
Andrew Tridgell 2013-10-08 17:30:55 +11:00
parent 4b68dd48f7
commit eef966c5fb
1 changed files with 15 additions and 16 deletions
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31
APMrover2/APMrover2.pde
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@ -604,28 +604,27 @@ void setup() {
*/
void loop()
{
// wait for an INS sample
if (!ins.wait_for_sample(1000)) {
return;
}
uint32_t timer = millis();
// We want this to execute at 50Hz, synchronised with the gyro/accel
if (ins.sample_available()) {
delta_ms_fast_loop = timer - fast_loopTimer;
G_Dt = (float)delta_ms_fast_loop / 1000.f;
fast_loopTimer = timer;
delta_ms_fast_loop = timer - fast_loopTimer;
G_Dt = (float)delta_ms_fast_loop / 1000.f;
fast_loopTimer = timer;
mainLoop_count++;
mainLoop_count++;
// Execute the fast loop
// ---------------------
fast_loop();
// Execute the fast loop
// ---------------------
fast_loop();
// tell the scheduler one tick has passed
scheduler.tick();
fast_loopTimeStamp = millis();
// tell the scheduler one tick has passed
scheduler.tick();
fast_loopTimeStamp = millis();
scheduler.run(19000U);
} else {
hal.scheduler->delay(1);
}
scheduler.run(19000U);
}
// Main loop 50Hz