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Code Issues Releases Activity

Flight/Actuator: Run actuator from queue again, latency well behaved.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1817 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-01 12:33:20 +00:00 committed by peabody124
parent b5eb89ed5e
commit b9943645e0
1 changed files with 12 additions and 7 deletions
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19
flight/OpenPilot/Modules/Actuator/actuator.c
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@ -52,7 +52,7 @@
// Private variables
//static xQueueHandle queue;
static xQueueHandle queue;
static xTaskHandle taskHandle;
// Private functions
@ -73,10 +73,10 @@ float ProcessMixer(const int index, const float curve1, const float curve2,
int32_t ActuatorInitialize()
{
// Create object queue
//queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for ExampleObject1 updates
//ActuatorDesiredConnectQueue(queue);
ActuatorDesiredConnectQueue(queue);
// Start main task
xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
@ -89,7 +89,7 @@ int32_t ActuatorInitialize()
*/
static void actuatorTask(void* parameters)
{
// UAVObjEvent ev;
UAVObjEvent ev;
portTickType lastSysTime;
ActuatorCommandData command;
ActuatorSettingsData settings;
@ -105,6 +105,14 @@ static void actuatorTask(void* parameters)
lastSysTime = xTaskGetTickCount();
while (1)
{
// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
{
setFailsafe();
continue;
}
ActuatorCommandGet(&command);
ActuatorSettingsGet(&settings);
@ -127,9 +135,6 @@ static void actuatorTask(void* parameters)
{
PIOS_Servo_Set( n, command.Channel[n] );
}
// Wait until next update
vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS );
}
}