// 50 Hz tasks void Sub::fifty_hz_loop() { // check pilot input failsafe failsafe_pilot_input_check(); failsafe_crash_check(); failsafe_ekf_check(); failsafe_sensors_check(); // Update rc input/output rc().read_input(); SRV_Channels::output_ch_all(); }
// 50 Hz tasks void Sub::fifty_hz_loop() { // check pilot input failsafe failsafe_pilot_input_check(); failsafe_crash_check(); failsafe_ekf_check(); failsafe_sensors_check(); // Update servo output RC_Channels::set_pwm_all(); // wait for outputs to initialize: TODO find a better way to do this if (millis() > 10000) { SRV_Channels::limit_slew_rate(SRV_Channel::k_mount_tilt, g.cam_slew_limit, 0.02f); } SRV_Channels::output_ch_all(); }