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Code Issues Releases Activity

INS: Try and get load down on event system.

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This commit is contained in:
James Cotton 2011-09-04 16:21:04 -05:00
parent cd8ebdf427
commit 7ff5cd7655
3 changed files with 7 additions and 8 deletions
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2
flight/Libraries/ahrs_spi_comm.c
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@ -53,7 +53,7 @@ typedef enum { COMMS_NULL, COMMS_OBJECT } COMMSCOMMAND;
//The maximum number of objects that can be updated in one cycle. //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 //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 //Number of transmissions + 1 before we expect to see the data acknowledge
//This is controlled by the SPI hardware. //This is controlled by the SPI hardware.

6
flight/Modules/AHRSComms/ahrs_comms.c
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@ -119,7 +119,7 @@ static void ahrscommsTask(void *parameters)
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_WARNING); AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_WARNING);
} }
InsStatusData sData; InsStatusData sData;
// InsStatusGet(&sData); InsStatusGet(&sData);
sData.LinkRunning = stat.linkOk; sData.LinkRunning = stat.linkOk;
sData.AhrsKickstarts = stat.remote.kickStarts; sData.AhrsKickstarts = stat.remote.kickStarts;
@ -130,9 +130,9 @@ static void ahrscommsTask(void *parameters)
sData.OpRetries = stat.local.retries; sData.OpRetries = stat.local.retries;
sData.OpInvalidPackets = stat.local.invalidPacket; sData.OpInvalidPackets = stat.local.invalidPacket;
// InsStatusSet(&sData); InsStatusSet(&sData);
/* Wait for the next update interval */ /* Wait for the next update interval */
vTaskDelayUntil(&lastSysTime, 1 / portTICK_RATE_MS); vTaskDelayUntil(&lastSysTime, 2 / portTICK_RATE_MS);
} }
} }

7
flight/OpenPilot/Makefile
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@ -56,12 +56,11 @@ endif
FLASH_TOOL = OPENOCD FLASH_TOOL = OPENOCD
# List of modules to include # List of modules to include
MODULES = Actuator Telemetry GPS ManualControl AHRSComms Stabilization Guidance FirmwareIAP MODULES = Actuator Telemetry GPS ManualControl AHRSComms Stabilization FirmwareIAP
PYMODULES = FlightPlan PYMODULES = FlightPlan
#MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial
#MODULES = Telemetry
#MODULES += Osd/OsdEtStd #MODULES += Osd/OsdEtStd
#MODULES += Guidance
# Paths # Paths
OPSYSTEM = ./System OPSYSTEM = ./System