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Code Issues Releases Activity

ahrscomms: use relative delays to avoid slipping

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Change from using vTaskDelay to using vTaskDelayUntil to
ensure that we're trying to stay periodic rather than
just waiting a fixed amount of time after each loop of
processing.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1580 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac 2010-09-11 23:06:22 +00:00 committed by stac
parent 929f7dd5d8
commit 93ef510946
1 changed files with 3 additions and 1 deletions
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4
flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
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@ -156,6 +156,7 @@ static uint16_t algorithm_errors = 0;
static void ahrscommsTask(void* parameters) static void ahrscommsTask(void* parameters)
{ {
enum opahrs_result result; enum opahrs_result result;
portTickType lastSysTime;
GPSGoodUpdates = 0; GPSGoodUpdates = 0;
@ -191,6 +192,7 @@ static void ahrscommsTask(void* parameters)
AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS); AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
/* We're in sync with the AHRS, spin here until an error occurs */ /* We're in sync with the AHRS, spin here until an error occurs */
lastSysTime = xTaskGetTickCount();
while (1) { while (1) {
AHRSSettingsData settings; AHRSSettingsData settings;
@ -308,7 +310,7 @@ static void ahrscommsTask(void* parameters)
} }
/* Wait for the next update interval */ /* Wait for the next update interval */
vTaskDelay( settings.UpdatePeriod / portTICK_RATE_MS ); vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS );
} }
} }
} }