/*
once a second events
*/
void Rover::one_second_loop(void)
{
if (should_log(MASK_LOG_CURRENT))
Log_Write_Current();
// send a heartbeat
gcs_send_message(MSG_HEARTBEAT);
// allow orientation change at runtime to aid config
ahrs.set_orientation();
set_control_channels();
// cope with changes to aux functions
update_aux();
// update notify flags
AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
AP_Notify::flags.pre_arm_gps_check = true;
AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO;
// cope with changes to mavlink system ID
mavlink_system.sysid = g.sysid_this_mav;
static uint8_t counter;
counter++;
// write perf data every 20s
if (counter % 10 == 0) {
if (scheduler.debug() != 0) {
hal.console->printf("G_Dt_max=%lu\n", (unsigned long)G_Dt_max);
}
if (should_log(MASK_LOG_PM))
Log_Write_Performance();
G_Dt_max = 0;
resetPerfData();
}
// save compass offsets once a minute
if (counter >= 60) {
if (g.compass_enabled) {
compass.save_offsets();
}
counter = 0;
}
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
}
void Plane::log_perf_info()
{
if (scheduler.debug() != 0) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "G_Dt_max=%lu G_Dt_min=%lu\n",
(unsigned long)G_Dt_max,
(unsigned long)G_Dt_min);
}
if (should_log(MASK_LOG_PM)) {
Log_Write_Performance();
}
G_Dt_max = 0;
G_Dt_min = 0;
resetPerfData();
}
void Plane::log_perf_info()
{
if (scheduler.debug() != 0) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "PERF: %u/%u Dt=%u/%u Log=%u\n",
(unsigned)perf.num_long,
(unsigned)perf.mainLoop_count,
(unsigned)perf.G_Dt_max,
(unsigned)perf.G_Dt_min,
(unsigned)(DataFlash.num_dropped() - perf.last_log_dropped));
}
if (should_log(MASK_LOG_PM)) {
Log_Write_Performance();
}
resetPerfData();
}