static inline void autopilot_main_periodic( void ) {
static uint8_t _cnt = 0;
/* read analog baro */
analog_periodic_task();
altimeter_periodic_task();
/* read imu */
imu_periodic_task();
/* run control loops */
autopilot_periodic();
/* set actuators */
autopilot_set_actuators();
/* Run the following tasks 10x times slower than the periodic rate */
_cnt++;
if (_cnt >= 10)
_cnt = 0;
switch (_cnt)
{
case 0:
rc_periodic_task();
if (rc_status == RC_OK) {
led_on(LED_RC);
} else {
led_off(LED_RC);
autopilot_set_mode(AP_MODE_FAILSAFE);
}
break;
case 1:
comm_periodic_task(COMM_TELEMETRY);
#if !HARDWARE_ENABLED_GPS
comm_periodic_task(COMM_0);
#endif
break;
case 2:
fms_periodic_task();
break;
#if BOMB_ENABLED
case 3:
bomb_periodic_task();
break;
#endif
}
/* flash leds... */
led_periodic_task();
if (ahrs_status == STATUS_INITIALIZING) {
RunOnceEvery(50, {
led_toggle(LED_AHRS);
});
static inline void main_periodic_task( void ) {
analog_periodic_task();
altimeter_periodic_task();
comm_periodic_task(COMM_1);
RunOnceEvery(250, {
int32_t alt = altimeter_get_altitude();
MESSAGE_SEND_ALTIMETER(COMM_1,
&alt,
&altimeter_system_status,
&altimeter_calibration_offset,
&altimeter_calibration_raw);
});