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Copter: remove shims used in scheduler

master
Peter Barker 7 years ago committed by Randy Mackay
parent
3aa211b325
commit
40d74584ac
8 changed files with 24 additions and 137 deletions
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  1. 75
      ArduCopter/ArduCopter.cpp
  2. 18
      ArduCopter/Copter.h
  3. 2
      ArduCopter/GCS_Mavlink.cpp
  4. 2
      ArduCopter/esc_calibration.cpp
  5. 9
      ArduCopter/leds.cpp
  6. 4
      ArduCopter/motors.cpp
  7. 41
      ArduCopter/sensors.cpp
  8. 10
      ArduCopter/toy_mode.cpp

75
ArduCopter/ArduCopter.cpp
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@ -93,21 +93,23 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(read_aux_switches, 10, 50), SCHED_TASK(read_aux_switches, 10, 50),
SCHED_TASK(arm_motors_check, 10, 50), SCHED_TASK(arm_motors_check, 10, 50),
#if TOY_MODE_ENABLED == ENABLED #if TOY_MODE_ENABLED == ENABLED
SCHED_TASK(toy_mode_update, 10, 50), SCHED_TASK_CLASS(ToyMode, &copter.g2.toy_mode, update, 10, 50),
#endif #endif
SCHED_TASK(auto_disarm_check, 10, 50), SCHED_TASK(auto_disarm_check, 10, 50),
SCHED_TASK(auto_trim, 10, 75), SCHED_TASK(auto_trim, 10, 75),
SCHED_TASK(read_rangefinder, 20, 100), SCHED_TASK(read_rangefinder, 20, 100),
SCHED_TASK(update_proximity, 100, 50), #if PROXIMITY_ENABLED == ENABLED
SCHED_TASK(update_beacon, 400, 50), SCHED_TASK_CLASS(AP_Proximity, &copter.g2.proximity, update, 100, 50),
#endif
SCHED_TASK_CLASS(AP_Beacon, &copter.g2.beacon, update, 400, 50),
SCHED_TASK(update_visual_odom, 400, 50), SCHED_TASK(update_visual_odom, 400, 50),
SCHED_TASK(update_altitude, 10, 100), SCHED_TASK(update_altitude, 10, 100),
SCHED_TASK(run_nav_updates, 50, 100), SCHED_TASK(run_nav_updates, 50, 100),
SCHED_TASK(update_throttle_hover,100, 90), SCHED_TASK(update_throttle_hover,100, 90),
SCHED_TASK(smart_rtl_save_position, 3, 100), SCHED_TASK_CLASS(Copter::ModeSmartRTL, &copter.mode_smartrtl, save_position, 3, 100),
SCHED_TASK(three_hz_loop, 3, 75), SCHED_TASK(three_hz_loop, 3, 75),
SCHED_TASK(compass_accumulate, 100, 100), SCHED_TASK(compass_accumulate, 100, 100),
SCHED_TASK(barometer_accumulate, 50, 90), SCHED_TASK_CLASS(AP_Baro, &copter.barometer, accumulate, 50, 90),
#if PRECISION_LANDING == ENABLED #if PRECISION_LANDING == ENABLED
SCHED_TASK(update_precland, 400, 50), SCHED_TASK(update_precland, 400, 50),
#endif #endif
@ -115,7 +117,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(check_dynamic_flight, 50, 75), SCHED_TASK(check_dynamic_flight, 50, 75),
#endif #endif
SCHED_TASK(fourhundred_hz_logging,400, 50), SCHED_TASK(fourhundred_hz_logging,400, 50),
SCHED_TASK(update_notify, 50, 90), SCHED_TASK_CLASS(AP_Notify, &copter.notify, update, 50, 90),
SCHED_TASK(one_hz_loop, 1, 100), SCHED_TASK(one_hz_loop, 1, 100),
SCHED_TASK(ekf_check, 10, 75), SCHED_TASK(ekf_check, 10, 75),
SCHED_TASK(gpsglitch_check, 10, 50), SCHED_TASK(gpsglitch_check, 10, 50),
@ -125,18 +127,22 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(gcs_send_heartbeat, 1, 110), SCHED_TASK(gcs_send_heartbeat, 1, 110),
SCHED_TASK(gcs_send_deferred, 50, 550), SCHED_TASK(gcs_send_deferred, 50, 550),
SCHED_TASK(gcs_data_stream_send, 50, 550), SCHED_TASK(gcs_data_stream_send, 50, 550),
SCHED_TASK(update_mount, 50, 75), #if MOUNT == ENABLED
SCHED_TASK(update_trigger, 50, 75), SCHED_TASK_CLASS(AP_Mount, &copter.camera_mount, update, 50, 75),
#endif
#if CAMERA == ENABLED
SCHED_TASK_CLASS(AP_Camera, &copter.camera, update, 50, 75),
#endif
SCHED_TASK(ten_hz_logging_loop, 10, 350), SCHED_TASK(ten_hz_logging_loop, 10, 350),
SCHED_TASK(twentyfive_hz_logging, 25, 110), SCHED_TASK(twentyfive_hz_logging, 25, 110),
SCHED_TASK(dataflash_periodic, 400, 300), SCHED_TASK_CLASS(DataFlash_Class, &copter.DataFlash, periodic_tasks, 400, 300),
SCHED_TASK(ins_periodic, 400, 50), SCHED_TASK_CLASS(AP_InertialSensor, &copter.ins, periodic, 400, 50),
SCHED_TASK(perf_update, 0.1, 75), SCHED_TASK(perf_update, 0.1, 75),
SCHED_TASK(read_receiver_rssi, 10, 75), SCHED_TASK(read_receiver_rssi, 10, 75),
SCHED_TASK(rpm_update, 10, 200), SCHED_TASK(rpm_update, 10, 200),
SCHED_TASK(compass_cal_update, 100, 100), SCHED_TASK(compass_cal_update, 100, 100),
SCHED_TASK(accel_cal_update, 10, 100), SCHED_TASK(accel_cal_update, 10, 100),
SCHED_TASK(temp_cal_update, 10, 100), SCHED_TASK_CLASS(AP_TempCalibration, &copter.g2.temp_calibration, update, 10, 100),
#if ADSB_ENABLED == ENABLED #if ADSB_ENABLED == ENABLED
SCHED_TASK(avoidance_adsb_update, 10, 100), SCHED_TASK(avoidance_adsb_update, 10, 100),
#endif #endif
@ -145,7 +151,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
#endif #endif
SCHED_TASK(terrain_update, 10, 100), SCHED_TASK(terrain_update, 10, 100),
#if GRIPPER_ENABLED == ENABLED #if GRIPPER_ENABLED == ENABLED
SCHED_TASK(gripper_update, 10, 75), SCHED_TASK_CLASS(AP_Gripper, &copter.g2.gripper, update, 10, 75),
#endif #endif
SCHED_TASK(winch_update, 10, 50), SCHED_TASK(winch_update, 10, 50),
#ifdef USERHOOK_FASTLOOP #ifdef USERHOOK_FASTLOOP
@ -163,8 +169,8 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
#ifdef USERHOOK_SUPERSLOWLOOP #ifdef USERHOOK_SUPERSLOWLOOP
SCHED_TASK(userhook_SuperSlowLoop, 1, 75), SCHED_TASK(userhook_SuperSlowLoop, 1, 75),
#endif #endif
SCHED_TASK(button_update, 5, 100), SCHED_TASK_CLASS(AP_Button, &copter.g2.button, update, 5, 100),
SCHED_TASK(stats_update, 1, 100), SCHED_TASK_CLASS(AP_Stats, &copter.g2.stats, update, 1, 100),
}; };
@ -203,14 +209,6 @@ void Copter::perf_update(void)
pmTest1 = 0; pmTest1 = 0;
} }
/*
update AP_Stats
*/
void Copter::stats_update(void)
{
g2.stats.update();
}
void Copter::loop() void Copter::loop()
{ {
// wait for an INS sample // wait for an INS sample
@ -325,24 +323,6 @@ void Copter::throttle_loop()
update_ground_effect_detector(); update_ground_effect_detector();
} }
// update_mount - update camera mount position
// should be run at 50hz
void Copter::update_mount()
{
#if MOUNT == ENABLED
// update camera mount's position
camera_mount.update();
#endif
}
// update camera trigger
void Copter::update_trigger(void)
{
#if CAMERA == ENABLED
camera.update_trigger();
#endif
}
// update_batt_compass - read battery and compass // update_batt_compass - read battery and compass
// should be called at 10hz // should be called at 10hz
void Copter::update_batt_compass(void) void Copter::update_batt_compass(void)
@ -433,16 +413,6 @@ void Copter::twentyfive_hz_logging()
#endif #endif
} }
void Copter::dataflash_periodic(void)
{
DataFlash.periodic_tasks();
}
void Copter::ins_periodic(void)
{
ins.periodic();
}
// three_hz_loop - 3.3hz loop // three_hz_loop - 3.3hz loop
void Copter::three_hz_loop() void Copter::three_hz_loop()
{ {
@ -540,11 +510,6 @@ void Copter::update_GPS(void)
} }
} }
void Copter::smart_rtl_save_position()
{
mode_smartrtl.save_position();
}
void Copter::init_simple_bearing() void Copter::init_simple_bearing()
{ {
// capture current cos_yaw and sin_yaw values // capture current cos_yaw and sin_yaw values

18
ArduCopter/Copter.h
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@ -615,22 +615,16 @@ private:
// ArduCopter.cpp // ArduCopter.cpp
void perf_update(void); void perf_update(void);
void stats_update();
void fast_loop(); void fast_loop();
void rc_loop(); void rc_loop();
void throttle_loop(); void throttle_loop();
void update_mount();
void update_trigger(void);
void update_batt_compass(void); void update_batt_compass(void);
void fourhundred_hz_logging(); void fourhundred_hz_logging();
void ten_hz_logging_loop(); void ten_hz_logging_loop();
void twentyfive_hz_logging(); void twentyfive_hz_logging();
void dataflash_periodic(void);
void ins_periodic();
void three_hz_loop(); void three_hz_loop();
void one_hz_loop(); void one_hz_loop();
void update_GPS(void); void update_GPS(void);
void smart_rtl_save_position();
void init_simple_bearing(); void init_simple_bearing();
void update_simple_mode(void); void update_simple_mode(void);
void update_super_simple_bearing(bool force_update); void update_super_simple_bearing(bool force_update);
@ -761,9 +755,6 @@ private:
// landing_gear.cpp // landing_gear.cpp
void landinggear_update(); void landinggear_update();
// leds.cpp
void update_notify();
// Log.cpp // Log.cpp
void Log_Write_Optflow(); void Log_Write_Optflow();
void Log_Write_Nav_Tuning(); void Log_Write_Nav_Tuning();
@ -828,9 +819,6 @@ private:
void motors_output(); void motors_output();
void lost_vehicle_check(); void lost_vehicle_check();
// toy_mode.cpp
void toy_mode_update(void);
// navigation.cpp // navigation.cpp
void run_nav_updates(void); void run_nav_updates(void);
int32_t home_bearing(); int32_t home_bearing();
@ -864,7 +852,6 @@ private:
// sensors.cpp // sensors.cpp
void init_barometer(bool full_calibration); void init_barometer(bool full_calibration);
void read_barometer(void); void read_barometer(void);
void barometer_accumulate(void);
void init_rangefinder(void); void init_rangefinder(void);
void read_rangefinder(void); void read_rangefinder(void);
bool rangefinder_alt_ok(); bool rangefinder_alt_ok();
@ -877,13 +864,10 @@ private:
void read_receiver_rssi(void); void read_receiver_rssi(void);
void compass_cal_update(void); void compass_cal_update(void);
void accel_cal_update(void); void accel_cal_update(void);
void gripper_update();
void button_update();
void init_proximity(); void init_proximity();
void update_proximity(); void update_proximity();
void update_sensor_status_flags(void); void update_sensor_status_flags(void);
void init_beacon(); void init_beacon();
void update_beacon();
void init_visual_odom(); void init_visual_odom();
void update_visual_odom(); void update_visual_odom();
void winch_init(); void winch_init();
@ -989,8 +973,6 @@ private:
Mode *mode_from_mode_num(const uint8_t mode); Mode *mode_from_mode_num(const uint8_t mode);
void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode); void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode);
void temp_cal_update(void);
public: public:
void mavlink_delay_cb(); // GCS_Mavlink.cpp void mavlink_delay_cb(); // GCS_Mavlink.cpp
void failsafe_check(); // failsafe.cpp void failsafe_check(); // failsafe.cpp

2
ArduCopter/GCS_Mavlink.cpp
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@ -1126,7 +1126,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) { if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
AP_Notify::flags.firmware_update = 1; AP_Notify::flags.firmware_update = 1;
copter.update_notify(); copter.notify.update();
hal.scheduler->delay(200); hal.scheduler->delay(200);
// when packet.param1 == 3 we reboot to hold in bootloader // when packet.param1 == 3 we reboot to hold in bootloader
hal.scheduler->reboot(is_equal(packet.param1,3.0f)); hal.scheduler->reboot(is_equal(packet.param1,3.0f));

2
ArduCopter/esc_calibration.cpp
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@ -202,6 +202,6 @@ void Copter::esc_calibration_notify()
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
if (now - esc_calibration_notify_update_ms > 20) { if (now - esc_calibration_notify_update_ms > 20) {
esc_calibration_notify_update_ms = now; esc_calibration_notify_update_ms = now;
update_notify(); notify.update();
} }
} }

9
ArduCopter/leds.cpp
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@ -1,10 +1 @@
#include "Copter.h" #include "Copter.h"
// updates the status of notify
// should be called at 50hz
void Copter::update_notify()
{
notify.update();
}

4
ArduCopter/motors.cpp
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@ -161,9 +161,9 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
// notify that arming will occur (we do this early to give plenty of warning) // notify that arming will occur (we do this early to give plenty of warning)
AP_Notify::flags.armed = true; AP_Notify::flags.armed = true;
// call update_notify a few times to ensure the message gets out // call notify update a few times to ensure the message gets out
for (uint8_t i=0; i<=10; i++) { for (uint8_t i=0; i<=10; i++) {
update_notify(); notify.update();
} }
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL #if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL

41
ArduCopter/sensors.cpp
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@ -24,12 +24,6 @@ void Copter::read_barometer(void)
motors->set_air_density_ratio(barometer.get_air_density_ratio()); motors->set_air_density_ratio(barometer.get_air_density_ratio());
} }
// try to accumulate a baro reading
void Copter::barometer_accumulate(void)
{
barometer.accumulate();
}
void Copter::init_rangefinder(void) void Copter::init_rangefinder(void)
{ {
#if RANGEFINDER_ENABLED == ENABLED #if RANGEFINDER_ENABLED == ENABLED
@ -260,22 +254,6 @@ void Copter::accel_cal_update()
#endif #endif
} }
#if GRIPPER_ENABLED == ENABLED
// gripper update
void Copter::gripper_update()
{
g2.gripper.update();
}
#endif
/*
update AP_Button
*/
void Copter::button_update(void)
{
g2.button.update();
}
// initialise proximity sensor // initialise proximity sensor
void Copter::init_proximity(void) void Copter::init_proximity(void)
{ {
@ -285,14 +263,6 @@ void Copter::init_proximity(void)
#endif #endif
} }
// update proximity sensor
void Copter::update_proximity(void)
{
#if PROXIMITY_ENABLED == ENABLED
g2.proximity.update();
#endif
}
// update error mask of sensors and subsystems. The mask // update error mask of sensors and subsystems. The mask
// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set // uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
// then it indicates that the sensor or subsystem is present but // then it indicates that the sensor or subsystem is present but
@ -503,12 +473,6 @@ void Copter::init_beacon()
g2.beacon.init(); g2.beacon.init();
} }
// update beacons
void Copter::update_beacon()
{
g2.beacon.update();
}
// init visual odometry sensor // init visual odometry sensor
void Copter::init_visual_odom() void Copter::init_visual_odom()
{ {
@ -553,8 +517,3 @@ void Copter::winch_update()
g2.wheel_encoder.update(); g2.wheel_encoder.update();
g2.winch.update(); g2.winch.update();
} }
void Copter::temp_cal_update(void)
{
g2.temp_calibration.update();
}

10
ArduCopter/toy_mode.cpp
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@ -967,16 +967,6 @@ void ToyMode::send_named_int(const char *name, int32_t value)
mavlink_msg_named_value_int_send(MAVLINK_COMM_1, AP_HAL::millis(), name, value); mavlink_msg_named_value_int_send(MAVLINK_COMM_1, AP_HAL::millis(), name, value);
} }
#if TOY_MODE_ENABLED == ENABLED
/*
called from scheduler at 10Hz
*/
void Copter::toy_mode_update(void)
{
g2.toy_mode.update();
}
#endif
/* /*
limit maximum thrust based on voltage limit maximum thrust based on voltage
*/ */

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