// one_hz_loop - runs at 1Hz
void Sub::one_hz_loop()
{
bool arm_check = arming.pre_arm_checks(false);
ap.pre_arm_check = arm_check;
AP_Notify::flags.pre_arm_check = arm_check;
AP_Notify::flags.pre_arm_gps_check = position_ok();
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
}
if (!motors.armed()) {
// make it possible to change ahrs orientation at runtime during initial config
ahrs.set_orientation();
// set all throttle channel settings
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
}
// update assigned functions and enable auxiliary servos
SRV_Channels::enable_aux_servos();
// update position controller alt limits
update_poscon_alt_max();
// log terrain data
terrain_logging();
// init compass location for declination
init_compass_location();
// need to set "likely flying" when armed to allow for compass
// learning to run
ahrs.set_likely_flying(hal.util->get_soft_armed());
}
// one_hz_loop - runs at 1Hz
void Copter::one_hz_loop()
{
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
}
arming.update();
if (!motors->armed()) {
// make it possible to change ahrs orientation at runtime during initial config
ahrs.update_orientation();
update_using_interlock();
// check the user hasn't updated the frame class or type
motors->set_frame_class_and_type((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());
#if FRAME_CONFIG != HELI_FRAME
// set all throttle channel settings
motors->set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif
}
// update assigned functions and enable auxiliary servos
SRV_Channels::enable_aux_servos();
// log terrain data
terrain_logging();
#if ADSB_ENABLED == ENABLED
adsb.set_is_flying(!ap.land_complete);
#endif
AP_Notify::flags.flying = !ap.land_complete;
// update error mask of sensors and subsystems. The mask uses the
// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
// indicates that the sensor or subsystem is present but not
// functioning correctly
gcs().update_sensor_status_flags();
// init compass location for declination
init_compass_location();
}
