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Code Issues Releases Activity

OP-1319 fixed minor spelling mistake in firmware code

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This commit is contained in:
Philippe Renon 2014-08-30 18:09:23 +02:00
parent 3a2c402c1f
commit 575e89f1a1
2 changed files with 4 additions and 4 deletions
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2
flight/modules/Stabilization/inc/stabilization.h
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@ -76,7 +76,7 @@ extern StabilizationData stabSettings;
// must be same as eventdispatcher to avoid needing additional mutexes
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
// outer loop only executes every 4th uavobject update to safe CPU
// outer loop only executes every 4th uavobject update to save CPU
#define OUTERLOOP_SKIPCOUNT 4
#endif // STABILIZATION_H

6
flight/modules/Stabilization/outerloop.c
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@ -286,10 +286,10 @@ static void stabilizationOuterloopTask()
static void AttitudeStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
// to reduce CPU utilisation, outer loop is not executed every state update
static uint8_t cpusafer = 0;
// to reduce CPU utilization, outer loop is not executed on every state update
static uint8_t cpusaver = 0;
if ((cpusafer++ % OUTERLOOP_SKIPCOUNT) == 0) {
if ((cpusaver++ % OUTERLOOP_SKIPCOUNT) == 0) {
// this does not need mutex protection as both eventdispatcher and stabi run in same callback task!
AttitudeStateGet(&attitude);
PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle);