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Merge branch 'filnet/OP-1319_minor_spelling_issue_in_fw_code' into next

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Philippe Renon 2014-08-31 13:18:36 +02:00
commit 8019cad104
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 // must be same as eventdispatcher to avoid needing additional mutexes
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL #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 #define OUTERLOOP_SKIPCOUNT 4
#endif // STABILIZATION_H #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) static void AttitudeStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{ {
// to reduce CPU utilisation, outer loop is not executed every state update // to reduce CPU utilization, outer loop is not executed on every state update
static uint8_t cpusafer = 0; 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! // this does not need mutex protection as both eventdispatcher and stabi run in same callback task!
AttitudeStateGet(&attitude); AttitudeStateGet(&attitude);
PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle); PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle);