void Copter::loop()
{
// wait for an INS sample
ins.wait_for_sample();
uint32_t timer = micros();
// check loop time
perf_info_check_loop_time(timer - fast_loopTimer);
// used by PI Loops
G_Dt = (float)(timer - fast_loopTimer) / 1000000.0f;
fast_loopTimer = timer;
// for mainloop failure monitoring
mainLoop_count++;
// Execute the fast loop
// ---------------------
fast_loop();
// tell the scheduler one tick has passed
scheduler.tick();
// run all the tasks that are due to run. Note that we only
// have to call this once per loop, as the tasks are scheduled
// in multiples of the main loop tick. So if they don't run on
// the first call to the scheduler they won't run on a later
// call until scheduler.tick() is called again
uint32_t time_available = (timer + MAIN_LOOP_MICROS) - micros();
scheduler.run(time_available);
}
void loop(void) {
int32_t timer = micros();
if ((timer - fast_loopTimer) >= 10000) {
fast_loop();
fast_loopTimer=micros();
}
if ((timer - fiftyhz_loopTimer) >= 20000) {
fiftyhz_loopTimer = timer;
medium_loop();
fiftyhz_loop();
counter_one_herz++;
if(counter_one_herz == 50){
super_slow_loop(); //1 Hz
counter_one_herz = 0;
}
}
}