rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Change attitude task freqency when in angle or horizon mode

This commit is contained in:
Martin Budden 2018-02-01 10:26:29 +00:00
parent 4509e8d237
commit 62ad67f45b
5 changed files with 9 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/main/drivers/compass/compass_ak8963.c
View File

@ -382,7 +382,6 @@ void ak8963BusInit(const busDevice_t *busdev)
#endif #endif
#if defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)) #if defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250))
#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
case BUSTYPE_MPU_SLAVE: case BUSTYPE_MPU_SLAVE:
rescheduleTask(TASK_COMPASS, TASK_PERIOD_HZ(40)); rescheduleTask(TASK_COMPASS, TASK_PERIOD_HZ(40));

3
src/main/fc/fc_core.c
View File

@ -671,8 +671,11 @@ bool processRx(timeUs_t currentTimeUs)
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) { if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON; LED1_ON;
// increase frequency of attitude task to reduce drift when in angle or horizon mode
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(500));
} else { } else {
LED1_OFF; LED1_OFF;
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(100));
} }
if (!IS_RC_MODE_ACTIVE(BOXPREARM) && ARMING_FLAG(WAS_ARMED_WITH_PREARM)) { if (!IS_RC_MODE_ACTIVE(BOXPREARM) && ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {

4
src/main/fc/fc_tasks.h
View File

@ -19,8 +19,4 @@
#define LOOPTIME_SUSPEND_TIME 3 // Prevent too long busy wait times #define LOOPTIME_SUSPEND_TIME 3 // Prevent too long busy wait times
#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
#define TASK_PERIOD_MS(ms) ((ms) * 1000)
#define TASK_PERIOD_US(us) (us)
void fcTasksInit(void); void fcTasksInit(void);

5
src/main/scheduler/scheduler.h
View File

@ -19,6 +19,11 @@
#include "common/time.h" #include "common/time.h"
#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
#define TASK_PERIOD_MS(ms) ((ms) * 1000)
#define TASK_PERIOD_US(us) (us)
typedef enum { typedef enum {
TASK_PRIORITY_IDLE = 0, // Disables dynamic scheduling, task is executed only if no other task is active this cycle TASK_PRIORITY_IDLE = 0, // Disables dynamic scheduling, task is executed only if no other task is active this cycle
TASK_PRIORITY_LOW = 1, TASK_PRIORITY_LOW = 1,

1
src/test/unit/arming_prevention_unittest.cc
View File

@ -669,4 +669,5 @@ extern "C" {
void dashboardEnablePageCycling(void) {} void dashboardEnablePageCycling(void) {}
void dashboardDisablePageCycling(void) {} void dashboardDisablePageCycling(void) {}
bool imuQuaternionHeadfreeOffsetSet(void) { return true; } bool imuQuaternionHeadfreeOffsetSet(void) { return true; }
void rescheduleTask(cfTaskId_e, uint32_t) {}
} }