From 7649907ec2d44ad34baefc0438f9166580fe197f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 25 Aug 2014 14:55:40 +1000
Subject: [PATCH] Plane: run terrain.update() more often
this provides faster checking of mission waypoints
---
ArduPlane/ArduPlane.pde | 10 ++++++++--
1 file changed, 8 insertions(+), 2 deletions(-)
diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 02d5b2def..654aa9fee 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -796,7 +796,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
#if FRSKY_TELEM_ENABLED == ENABLED
{ telemetry_send, 10, 100 },
#endif
-
+ { terrain_update, 5, 500 },
};
// setup the var_info table
@@ -1023,7 +1023,6 @@ static void one_second_loop()
AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO;
#if AP_TERRAIN_AVAILABLE
- terrain.update();
if (should_log(MASK_LOG_GPS)) {
terrain.log_terrain_data(DataFlash);
}
@@ -1048,6 +1047,13 @@ static void compass_save()
}
}
+static void terrain_update(void)
+{
+#if AP_TERRAIN_AVAILABLE
+ terrain.update();
+#endif
+}
+
/*
once a second update the airspeed calibration ratio
*/
--
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