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Copter: run compass_accumulate at 100hz

master
Jonathan Challinger 10 years ago committed by Andrew Tridgell
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5fe6db0dc9
commit
ee1209c03f
1 changed files with 2 additions and 1 deletions
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  1. 3
      ArduCopter/ArduCopter.cpp

3
ArduCopter/ArduCopter.cpp
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@ -113,7 +113,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] PROGMEM = {
SCHED_TASK(run_nav_updates, 8, 100), SCHED_TASK(run_nav_updates, 8, 100),
SCHED_TASK(update_thr_average, 4, 90), SCHED_TASK(update_thr_average, 4, 90),
SCHED_TASK(three_hz_loop, 133, 75), SCHED_TASK(three_hz_loop, 133, 75),
SCHED_TASK(compass_accumulate, 8, 100), SCHED_TASK(compass_accumulate, 4, 100),
SCHED_TASK(barometer_accumulate, 8, 90), SCHED_TASK(barometer_accumulate, 8, 90),
#if PRECISION_LANDING == ENABLED #if PRECISION_LANDING == ENABLED
SCHED_TASK(update_precland, 8, 50), SCHED_TASK(update_precland, 8, 50),
@ -138,6 +138,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] PROGMEM = {
SCHED_TASK(perf_update, 4000, 75), SCHED_TASK(perf_update, 4000, 75),
SCHED_TASK(read_receiver_rssi, 40, 75), SCHED_TASK(read_receiver_rssi, 40, 75),
SCHED_TASK(rpm_update, 40, 200), SCHED_TASK(rpm_update, 40, 200),
SCHED_TASK(compass_cal_update, 4, 100),
#if FRSKY_TELEM_ENABLED == ENABLED #if FRSKY_TELEM_ENABLED == ENABLED
SCHED_TASK(frsky_telemetry_send, 80, 75), SCHED_TASK(frsky_telemetry_send, 80, 75),
#endif #endif

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