From 7ff5cd76554d05d17c81df7680441ad4b4173fb4 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 4 Sep 2011 16:21:04 -0500 Subject: [PATCH] INS: Try and get load down on event system. --- flight/Libraries/ahrs_spi_comm.c | 2 +- flight/Modules/AHRSComms/ahrs_comms.c | 6 +++--- flight/OpenPilot/Makefile | 7 +++---- 3 files changed, 7 insertions(+), 8 deletions(-) diff --git a/flight/Libraries/ahrs_spi_comm.c b/flight/Libraries/ahrs_spi_comm.c index 37aeefe65..9c6f65d70 100644 --- a/flight/Libraries/ahrs_spi_comm.c +++ b/flight/Libraries/ahrs_spi_comm.c @@ -53,7 +53,7 @@ typedef enum { COMMS_NULL, COMMS_OBJECT } COMMSCOMMAND; //The maximum number of objects that can be updated in one cycle. //Currently the link is capable of sending 3 packets per cycle but 2 is enough -#define MAX_UPDATE_OBJECTS 1 +#define MAX_UPDATE_OBJECTS 2 //Number of transmissions + 1 before we expect to see the data acknowledge //This is controlled by the SPI hardware. diff --git a/flight/Modules/AHRSComms/ahrs_comms.c b/flight/Modules/AHRSComms/ahrs_comms.c index 73197e420..abda58ee0 100644 --- a/flight/Modules/AHRSComms/ahrs_comms.c +++ b/flight/Modules/AHRSComms/ahrs_comms.c @@ -119,7 +119,7 @@ static void ahrscommsTask(void *parameters) AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_WARNING); } InsStatusData sData; -// InsStatusGet(&sData); + InsStatusGet(&sData); sData.LinkRunning = stat.linkOk; sData.AhrsKickstarts = stat.remote.kickStarts; @@ -130,9 +130,9 @@ static void ahrscommsTask(void *parameters) sData.OpRetries = stat.local.retries; sData.OpInvalidPackets = stat.local.invalidPacket; -// InsStatusSet(&sData); + InsStatusSet(&sData); /* Wait for the next update interval */ - vTaskDelayUntil(&lastSysTime, 1 / portTICK_RATE_MS); + vTaskDelayUntil(&lastSysTime, 2 / portTICK_RATE_MS); } } diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index 45fe5cdf5..9a5beed41 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -56,12 +56,11 @@ endif FLASH_TOOL = OPENOCD # List of modules to include -MODULES = Actuator Telemetry GPS ManualControl AHRSComms Stabilization Guidance FirmwareIAP +MODULES = Actuator Telemetry GPS ManualControl AHRSComms Stabilization FirmwareIAP + PYMODULES = FlightPlan -#MODULES = Telemetry Example -#MODULES = Telemetry MK/MKSerial -#MODULES = Telemetry #MODULES += Osd/OsdEtStd +#MODULES += Guidance # Paths OPSYSTEM = ./System