rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-29 14:52:12 +01:00
Code Issues Releases Activity

AHRS: Cannot process messages while idling as this makes the main loop execution time non-deterministic based on OP (i.e. could get three messages and push the time up). It would be a nice featuer since you can get a raw and EKF update in the same step, but if the AHRS_Comm loop is fast (which is should be to keep update latency low) then this will hammer the AHRS with redunant requests.

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1594 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-12 02:54:51 +00:00 committed by peabody124
parent e90e714c2b
commit 59758122e1
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/AHRS/ahrs.c
View File

@ -325,7 +325,7 @@ int main()
idle_counter = 0; idle_counter = 0;
do { do {
idle_counter ++; idle_counter ++;
process_spi_request(); //process_spi_request();
} while ( ahrs_state != AHRS_DATA_READY ); } while ( ahrs_state != AHRS_DATA_READY );
ahrs_state = AHRS_PROCESSING; ahrs_state = AHRS_PROCESSING;