From 75788396670bd07691e40054a64efdbe58b96a93 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 30 Dec 2013 10:33:32 +1100
Subject: [PATCH] Rover: split up GPS update into 10Hz and 50Hz parts
---
APMrover2/APMrover2.pde | 13 +++++++++----
1 file changed, 9 insertions(+), 4 deletions(-)
diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index ace108d66..ccb1d112c 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -553,9 +553,10 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ read_radio, 1, 1000 },
{ ahrs_update, 1, 6400 },
{ read_sonars, 1, 2000 },
- { update_current_mode, 1, 1000 },
- { set_servos, 1, 1000 },
- { update_GPS, 5, 2500 },
+ { update_current_mode, 1, 1500 },
+ { set_servos, 1, 1500 },
+ { update_GPS_50Hz, 1, 2500 },
+ { update_GPS_10Hz, 5, 2500 },
{ navigate, 5, 1600 },
{ update_compass, 5, 2000 },
{ update_commands, 5, 1000 },
@@ -803,7 +804,7 @@ static void one_second_loop(void)
}
}
-static void update_GPS(void)
+static void update_GPS_50Hz(void)
{
static uint32_t last_gps_reading;
g_gps->update();
@@ -814,7 +815,11 @@ static void update_GPS(void)
DataFlash.Log_Write_GPS(g_gps, current_loc.alt);
}
}
+}
+
+static void update_GPS_10Hz(void)
+{
have_position = ahrs.get_projected_position(current_loc);
if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
--
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