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91 lines
3.0 KiB
91 lines
3.0 KiB
10 years ago
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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main Rover class, containing all vehicle specific state
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*/
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/*
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scheduler table - all regular tasks should be listed here, along
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with how often they should be called (in 20ms units) and the maximum
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time they are expected to take (in microseconds)
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*/
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const AP_Scheduler::Task Rover::scheduler_tasks[] PROGMEM = {
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{ read_radio, 1, 1000 },
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{ ahrs_update, 1, 6400 },
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{ read_sonars, 1, 2000 },
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{ update_current_mode, 1, 1500 },
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{ set_servos, 1, 1500 },
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{ update_GPS_50Hz, 1, 2500 },
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{ update_GPS_10Hz, 5, 2500 },
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{ update_alt, 5, 3400 },
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{ navigate, 5, 1600 },
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{ update_compass, 5, 2000 },
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{ update_commands, 5, 1000 },
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{ update_logging1, 5, 1000 },
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{ update_logging2, 5, 1000 },
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{ gcs_retry_deferred, 1, 1000 },
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{ gcs_update, 1, 1700 },
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{ gcs_data_stream_send, 1, 3000 },
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{ read_control_switch, 15, 1000 },
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{ read_trim_switch, 5, 1000 },
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{ read_battery, 5, 1000 },
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{ read_receiver_rssi, 5, 1000 },
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{ update_events, 1, 1000 },
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{ check_usb_mux, 15, 1000 },
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{ mount_update, 1, 600 },
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{ gcs_failsafe_check, 5, 600 },
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{ compass_accumulate, 1, 900 },
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{ update_notify, 1, 300 },
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{ one_second_loop, 50, 3000 },
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#if FRSKY_TELEM_ENABLED == ENABLED
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{ frsky_telemetry_send, 10, 100 }
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#endif
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};
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Rover::Rover(void) :
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param_loader(var_info)
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channel_steer(NULL),
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channel_throttle(NULL),
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channel_learn(NULL),
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in_log_download(false),
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modes(&g.mode1),
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#if AP_AHRS_NAVEKF_AVAILABLE
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ahrs(ins, barometer, gps, sonar),
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#else
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ahrs(ins, barometer, gps),
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#endif
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L1_controller(ahrs),
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nav_controller(&L1_controller),
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steerController(ahrs),
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mission(ahrs, &start_command, &verify_command, &exit_mission),
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ServoRelayEvents(relay),
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#if CAMERA == ENABLED
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AP_camera(&relay),
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#endif
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#if MOUNT == ENABLED
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camera_mount(ahrs, current_loc),
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#endif
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control_mode(INITIALISING),
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ground_start_count(20),
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throttle(500),
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frsky_telemetry(ahrs, battery),
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home(ahrs.get_home()),
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G_Dt(0.02),
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{
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}
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