mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-10-02 12:23:17 +08:00
Gautier Hattenberger
4d4b0a908b
- some tasks are grouped in a gnc group as they should be called in sequence: estimation, control, default, actuators - the timing between the sensors and gnc is half of the main period, it correspond to the default resolution of the sys_time virtual timers - the timing of AP threads is improved with a calculated wakeup time instead of a fixed sleep time - the monitor task for fixedwing is moved in the firmware specific autopilot part and called by a module - all timings have been accurately tested with high speed log and a dedicated profiler for ChibiOS
18 lines
599 B
XML
18 lines
599 B
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="autopilot_gnc_fw" task="control">
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<doc>
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<description>
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Autopilot GNC specific to fixedwing part
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</description>
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</doc>
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<dep>
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<depends>autopilot_gnc</depends>
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</dep>
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<periodic fun="navigation_task()" freq="NAVIGATION_FREQUENCY" cond="FIXEDWING_FIRMWARE @AND !USE_GENERATED_AUTOPILOT"/>
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<periodic fun="attitude_loop()" freq="CONTROL_FREQUENCY" cond="FIXEDWING_FIRMWARE @AND !USE_GENERATED_AUTOPILOT @AND !AHRS_TRIGGERED_ATTITUDE_LOOP"/>
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<periodic fun="monitor_task()" freq="1"/>
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<makefile target="!fbw"/>
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</module>
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