diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp index 52a9bd507c..a530bd798f 100644 --- a/ArduCopter/Copter.cpp +++ b/ArduCopter/Copter.cpp @@ -82,127 +82,147 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL(); -#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(Copter, &copter, func, rate_hz, max_time_micros) +#define SCHED_TASK(func, _interval_ticks, _max_time_micros, _prio) SCHED_TASK_CLASS(Copter, &copter, func, _interval_ticks, _max_time_micros, _prio) /* - scheduler table for fast CPUs - all regular tasks apart from the fast_loop() - should be listed here, along with how often they should be called (in hz) - and the maximum time they are expected to take (in microseconds) + scheduler table - all regular tasks apart from the fast_loop() + should be listed here. + + All entries in this table must be ordered by priority. + + This table is interleaved with the table in AP_Vehicle to determine + the order in which tasks are run. Convenience methods SCHED_TASK + and SCHED_TASK_CLASS are provided to build entries in this structure: + +SCHED_TASK arguments: + - name of static function to call + - rate (in Hertz) at which the function should be called + - expected time (in MicroSeconds) that the function should take to run + - priority (0 through 255, lower number meaning higher priority) + +SCHED_TASK_CLASS arguments: + - class name of method to be called + - instance on which to call the method + - method to call on that instance + - rate (in Hertz) at which the method should be called + - expected time (in MicroSeconds) that the method should take to run + - priority (0 through 255, lower number meaning higher priority) + */ const AP_Scheduler::Task Copter::scheduler_tasks[] = { - SCHED_TASK(rc_loop, 100, 130), - SCHED_TASK(throttle_loop, 50, 75), - SCHED_TASK_CLASS(AP_GPS, &copter.gps, update, 50, 200), + SCHED_TASK(rc_loop, 100, 130, 3), + SCHED_TASK(throttle_loop, 50, 75, 6), + SCHED_TASK_CLASS(AP_GPS, &copter.gps, update, 50, 200, 9), #if OPTFLOW == ENABLED - SCHED_TASK_CLASS(OpticalFlow, &copter.optflow, update, 200, 160), + SCHED_TASK_CLASS(OpticalFlow, &copter.optflow, update, 200, 160, 12), #endif - SCHED_TASK(update_batt_compass, 10, 120), - SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&copter.g2.rc_channels, read_aux_all, 10, 50), - SCHED_TASK(arm_motors_check, 10, 50), + SCHED_TASK(update_batt_compass, 10, 120, 15), + SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&copter.g2.rc_channels, read_aux_all, 10, 50, 18), + SCHED_TASK(arm_motors_check, 10, 50, 21), #if TOY_MODE_ENABLED == ENABLED - SCHED_TASK_CLASS(ToyMode, &copter.g2.toy_mode, update, 10, 50), + SCHED_TASK_CLASS(ToyMode, &copter.g2.toy_mode, update, 10, 50, 24), #endif - SCHED_TASK(auto_disarm_check, 10, 50), - SCHED_TASK(auto_trim, 10, 75), + SCHED_TASK(auto_disarm_check, 10, 50, 27), + SCHED_TASK(auto_trim, 10, 75, 30), #if RANGEFINDER_ENABLED == ENABLED - SCHED_TASK(read_rangefinder, 20, 100), + SCHED_TASK(read_rangefinder, 20, 100, 33), #endif #if HAL_PROXIMITY_ENABLED - SCHED_TASK_CLASS(AP_Proximity, &copter.g2.proximity, update, 200, 50), + SCHED_TASK_CLASS(AP_Proximity, &copter.g2.proximity, update, 200, 50, 36), #endif #if BEACON_ENABLED == ENABLED - SCHED_TASK_CLASS(AP_Beacon, &copter.g2.beacon, update, 400, 50), + SCHED_TASK_CLASS(AP_Beacon, &copter.g2.beacon, update, 400, 50, 39), #endif - SCHED_TASK(update_altitude, 10, 100), - SCHED_TASK(run_nav_updates, 50, 100), - SCHED_TASK(update_throttle_hover,100, 90), + SCHED_TASK(update_altitude, 10, 100, 42), + SCHED_TASK(run_nav_updates, 50, 100, 45), + SCHED_TASK(update_throttle_hover,100, 90, 48), #if MODE_SMARTRTL_ENABLED == ENABLED - SCHED_TASK_CLASS(ModeSmartRTL, &copter.mode_smartrtl, save_position, 3, 100), + SCHED_TASK_CLASS(ModeSmartRTL, &copter.mode_smartrtl, save_position, 3, 100, 51), #endif #if SPRAYER_ENABLED == ENABLED - SCHED_TASK_CLASS(AC_Sprayer, &copter.sprayer, update, 3, 90), + SCHED_TASK_CLASS(AC_Sprayer, &copter.sprayer, update, 3, 90, 54), #endif - SCHED_TASK(three_hz_loop, 3, 75), - SCHED_TASK_CLASS(AP_ServoRelayEvents, &copter.ServoRelayEvents, update_events, 50, 75), - SCHED_TASK_CLASS(AP_Baro, &copter.barometer, accumulate, 50, 90), + SCHED_TASK(three_hz_loop, 3, 75, 57), + SCHED_TASK_CLASS(AP_ServoRelayEvents, &copter.ServoRelayEvents, update_events, 50, 75, 60), + SCHED_TASK_CLASS(AP_Baro, &copter.barometer, accumulate, 50, 90, 63), #if AC_FENCE == ENABLED - SCHED_TASK_CLASS(AC_Fence, &copter.fence, update, 10, 100), + SCHED_TASK_CLASS(AC_Fence, &copter.fence, update, 10, 100, 66), #endif #if PRECISION_LANDING == ENABLED - SCHED_TASK(update_precland, 400, 50), + SCHED_TASK(update_precland, 400, 50, 69), #endif #if FRAME_CONFIG == HELI_FRAME - SCHED_TASK(check_dynamic_flight, 50, 75), + SCHED_TASK(check_dynamic_flight, 50, 75, 72), #endif #if LOGGING_ENABLED == ENABLED - SCHED_TASK(fourhundred_hz_logging,400, 50), + SCHED_TASK(fourhundred_hz_logging,400, 50, 75), #endif - SCHED_TASK_CLASS(AP_Notify, &copter.notify, update, 50, 90), - SCHED_TASK(one_hz_loop, 1, 100), - SCHED_TASK(ekf_check, 10, 75), - SCHED_TASK(check_vibration, 10, 50), - SCHED_TASK(gpsglitch_check, 10, 50), + SCHED_TASK_CLASS(AP_Notify, &copter.notify, update, 50, 90, 78), + SCHED_TASK(one_hz_loop, 1, 100, 81), + SCHED_TASK(ekf_check, 10, 75, 84), + SCHED_TASK(check_vibration, 10, 50, 87), + SCHED_TASK(gpsglitch_check, 10, 50, 90), #if LANDING_GEAR_ENABLED == ENABLED - SCHED_TASK(landinggear_update, 10, 75), + SCHED_TASK(landinggear_update, 10, 75, 93), #endif - SCHED_TASK(standby_update, 100, 75), - SCHED_TASK(lost_vehicle_check, 10, 50), - SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update_receive, 400, 180), - SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update_send, 400, 550), + SCHED_TASK(standby_update, 100, 75, 96), + SCHED_TASK(lost_vehicle_check, 10, 50, 99), + SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update_receive, 400, 180, 102), + SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update_send, 400, 550, 105), #if HAL_MOUNT_ENABLED - SCHED_TASK_CLASS(AP_Mount, &copter.camera_mount, update, 50, 75), + SCHED_TASK_CLASS(AP_Mount, &copter.camera_mount, update, 50, 75, 108), #endif #if CAMERA == ENABLED - SCHED_TASK_CLASS(AP_Camera, &copter.camera, update, 50, 75), + SCHED_TASK_CLASS(AP_Camera, &copter.camera, update, 50, 75, 111), #endif #if LOGGING_ENABLED == ENABLED - SCHED_TASK(ten_hz_logging_loop, 10, 350), - SCHED_TASK(twentyfive_hz_logging, 25, 110), - SCHED_TASK_CLASS(AP_Logger, &copter.logger, periodic_tasks, 400, 300), + SCHED_TASK(ten_hz_logging_loop, 10, 350, 114), + SCHED_TASK(twentyfive_hz_logging, 25, 110, 117), + SCHED_TASK_CLASS(AP_Logger, &copter.logger, periodic_tasks, 400, 300, 120), #endif - SCHED_TASK_CLASS(AP_InertialSensor, &copter.ins, periodic, 400, 50), + SCHED_TASK_CLASS(AP_InertialSensor, &copter.ins, periodic, 400, 50, 123), - SCHED_TASK_CLASS(AP_Scheduler, &copter.scheduler, update_logging, 0.1, 75), + SCHED_TASK_CLASS(AP_Scheduler, &copter.scheduler, update_logging, 0.1, 75, 126), #if RPM_ENABLED == ENABLED - SCHED_TASK(rpm_update, 40, 200), + SCHED_TASK(rpm_update, 40, 200, 129), #endif - SCHED_TASK_CLASS(Compass, &copter.compass, cal_update, 100, 100), - SCHED_TASK_CLASS(AP_TempCalibration, &copter.g2.temp_calibration, update, 10, 100), + SCHED_TASK_CLASS(Compass, &copter.compass, cal_update, 100, 100, 132), + SCHED_TASK_CLASS(AP_TempCalibration, &copter.g2.temp_calibration, update, 10, 100, 135), #if HAL_ADSB_ENABLED - SCHED_TASK(avoidance_adsb_update, 10, 100), + SCHED_TASK(avoidance_adsb_update, 10, 100, 138), #endif #if ADVANCED_FAILSAFE == ENABLED - SCHED_TASK(afs_fs_check, 10, 100), + SCHED_TASK(afs_fs_check, 10, 100, 141), #endif #if AP_TERRAIN_AVAILABLE - SCHED_TASK(terrain_update, 10, 100), + SCHED_TASK(terrain_update, 10, 100, 144), #endif #if GRIPPER_ENABLED == ENABLED - SCHED_TASK_CLASS(AP_Gripper, &copter.g2.gripper, update, 10, 75), + SCHED_TASK_CLASS(AP_Gripper, &copter.g2.gripper, update, 10, 75, 147), #endif #if WINCH_ENABLED == ENABLED - SCHED_TASK_CLASS(AP_Winch, &copter.g2.winch, update, 50, 50), + SCHED_TASK_CLASS(AP_Winch, &copter.g2.winch, update, 50, 50, 150), #endif #ifdef USERHOOK_FASTLOOP - SCHED_TASK(userhook_FastLoop, 100, 75), + SCHED_TASK(userhook_FastLoop, 100, 75, 153), #endif #ifdef USERHOOK_50HZLOOP - SCHED_TASK(userhook_50Hz, 50, 75), + SCHED_TASK(userhook_50Hz, 50, 75, 156), #endif #ifdef USERHOOK_MEDIUMLOOP - SCHED_TASK(userhook_MediumLoop, 10, 75), + SCHED_TASK(userhook_MediumLoop, 10, 75, 159), #endif #ifdef USERHOOK_SLOWLOOP - SCHED_TASK(userhook_SlowLoop, 3.3, 75), + SCHED_TASK(userhook_SlowLoop, 3.3, 75, 162), #endif #ifdef USERHOOK_SUPERSLOWLOOP - SCHED_TASK(userhook_SuperSlowLoop, 1, 75), + SCHED_TASK(userhook_SuperSlowLoop, 1, 75, 165), #endif #if HAL_BUTTON_ENABLED - SCHED_TASK_CLASS(AP_Button, &copter.button, update, 5, 100), + SCHED_TASK_CLASS(AP_Button, &copter.button, update, 5, 100, 168), #endif #if STATS_ENABLED == ENABLED - SCHED_TASK_CLASS(AP_Stats, &copter.g2.stats, update, 1, 100), + SCHED_TASK_CLASS(AP_Stats, &copter.g2.stats, update, 1, 100, 171), #endif };