zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

APMrover2: use designated initializers for tasks structs 

Makes code less prone to break build and semantics (e.g., when a new field is
added).
master
Gustavo Jose de Sousa 10 years ago committed by Andrew Tridgell
parent
a3d7156f28
commit
30ffd0cbd2
1 changed files with 32 additions and 29 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 61
      APMrover2/APMrover2.cpp

61
APMrover2/APMrover2.cpp
Unescape View File

@ -37,7 +37,10 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; @@ -37,7 +37,10 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
Rover rover;
#define SCHED_TASK(func) FUNCTOR_BIND(&rover, &Rover::func, void)
#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\
.function = FUNCTOR_BIND(&rover, &Rover::func, void),\
.interval_ticks = _interval_ticks,\
.max_time_micros = _max_time_micros}
/*
scheduler table - all regular tasks should be listed here, along
@ -45,35 +48,35 @@ Rover rover; @@ -45,35 +48,35 @@ Rover rover;
time they are expected to take (in microseconds)
*/
const AP_Scheduler::Task Rover::scheduler_tasks[] PROGMEM = {
{ SCHED_TASK(read_radio), 1, 1000 },
{ SCHED_TASK(ahrs_update), 1, 6400 },
{ SCHED_TASK(read_sonars), 1, 2000 },
{ SCHED_TASK(update_current_mode), 1, 1500 },
{ SCHED_TASK(set_servos), 1, 1500 },
{ SCHED_TASK(update_GPS_50Hz), 1, 2500 },
{ SCHED_TASK(update_GPS_10Hz), 5, 2500 },
{ SCHED_TASK(update_alt), 5, 3400 },
{ SCHED_TASK(navigate), 5, 1600 },
{ SCHED_TASK(update_compass), 5, 2000 },
{ SCHED_TASK(update_commands), 5, 1000 },
{ SCHED_TASK(update_logging1), 5, 1000 },
{ SCHED_TASK(update_logging2), 5, 1000 },
{ SCHED_TASK(gcs_retry_deferred), 1, 1000 },
{ SCHED_TASK(gcs_update), 1, 1700 },
{ SCHED_TASK(gcs_data_stream_send), 1, 3000 },
{ SCHED_TASK(read_control_switch), 7, 1000 },
{ SCHED_TASK(read_trim_switch), 5, 1000 },
{ SCHED_TASK(read_battery), 5, 1000 },
{ SCHED_TASK(read_receiver_rssi), 5, 1000 },
{ SCHED_TASK(update_events), 1, 1000 },
{ SCHED_TASK(check_usb_mux), 15, 1000 },
{ SCHED_TASK(mount_update), 1, 600 },
{ SCHED_TASK(gcs_failsafe_check), 5, 600 },
{ SCHED_TASK(compass_accumulate), 1, 900 },
{ SCHED_TASK(update_notify), 1, 300 },
{ SCHED_TASK(one_second_loop), 50, 3000 },
SCHED_TASK(read_radio, 1, 1000),
SCHED_TASK(ahrs_update, 1, 6400),
SCHED_TASK(read_sonars, 1, 2000),
SCHED_TASK(update_current_mode, 1, 1500),
SCHED_TASK(set_servos, 1, 1500),
SCHED_TASK(update_GPS_50Hz, 1, 2500),
SCHED_TASK(update_GPS_10Hz, 5, 2500),
SCHED_TASK(update_alt, 5, 3400),
SCHED_TASK(navigate, 5, 1600),
SCHED_TASK(update_compass, 5, 2000),
SCHED_TASK(update_commands, 5, 1000),
SCHED_TASK(update_logging1, 5, 1000),
SCHED_TASK(update_logging2, 5, 1000),
SCHED_TASK(gcs_retry_deferred, 1, 1000),
SCHED_TASK(gcs_update, 1, 1700),
SCHED_TASK(gcs_data_stream_send, 1, 3000),
SCHED_TASK(read_control_switch, 7, 1000),
SCHED_TASK(read_trim_switch, 5, 1000),
SCHED_TASK(read_battery, 5, 1000),
SCHED_TASK(read_receiver_rssi, 5, 1000),
SCHED_TASK(update_events, 1, 1000),
SCHED_TASK(check_usb_mux, 15, 1000),
SCHED_TASK(mount_update, 1, 600),
SCHED_TASK(gcs_failsafe_check, 5, 600),
SCHED_TASK(compass_accumulate, 1, 900),
SCHED_TASK(update_notify, 1, 300),
SCHED_TASK(one_second_loop, 50, 3000),
#if FRSKY_TELEM_ENABLED == ENABLED
{ SCHED_TASK(frsky_telemetry_send), 10, 100 }
SCHED_TASK(frsky_telemetry_send, 10, 100),
#endif
};

Write Preview
Loading…
Cancel
Save