Commit for peter to review

ArduPilot · Mar 5, 2021 · f24e111 · f24e111
1 parent f223c83
commit f24e111
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Showing 6 changed files with 189 additions and 1,654 deletions.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -46,8 +46,8 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(navigate,               10,    150),
     SCHED_TASK(update_compass,         10,    200),
     SCHED_TASK(read_airspeed,          10,    100),
-    SCHED_TASK(read_aoa,               10,    200),
-    SCHED_TASK(update_alt,             10,    200),//This line added by Cole
+    //SCHED_TASK(read_aoa,               10,    200),
+    SCHED_TASK(update_alt,             10,    200),
     SCHED_TASK(adjust_altitude_target, 10,    200),
 #if ADVANCED_FAILSAFE == ENABLED
     SCHED_TASK(afs_fs_check,           10,    100),
@@ -62,6 +62,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(read_rangefinder,       50,    100),
     SCHED_TASK_CLASS(AP_ICEngine, &plane.g2.ice_control, update, 10, 100),
     SCHED_TASK_CLASS(Compass,          &plane.compass,              cal_update, 50, 50),
+    SCHED_TASK_CLASS(AS5600_AOA, &plane.aoa_sensor, getRawAngle, 10, 200),
     SCHED_TASK(accel_cal_update,       10,    50),
 #if OPTFLOW == ENABLED
     SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update,    50,    50),
@@ -195,12 +196,12 @@ void Plane::update_compass(void)
 }
 
 /*
- * Read and log Angle of Attack                    This function is code added by Cole
+ * Read and log Angle of Attack
  */
 
-void Plane::read_aoa(void){
-    aoa_sensor.getRawAngle();
-}
+//void Plane::read_aoa(void){
+//    aoa_sensor.getRawAngle();
+//}
 
 /*
   do 10Hz logging

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -76,7 +76,7 @@
 #include <AP_OSD/AP_OSD.h>
 
 #include <AP_Rally/AP_Rally.h>
-#include <AP_AS5600_AOA/AS5600_AOA.h> //Magnetic Encoder library, line added by Cole
+#include <AP_AS5600_AOA/AS5600_AOA.h>
 
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
 #include <AP_Parachute/AP_Parachute.h>
@@ -197,7 +197,7 @@ class Plane : public AP_Vehicle {
 
     AP_RPM rpm_sensor;
 
-    AS5600_AOA aoa_sensor;                             //This line added by Cole
+    AS5600_AOA aoa_sensor;
 
     AP_TECS TECS_controller{ahrs, aparm, landing};
     AP_L1_Control L1_controller{ahrs, &TECS_controller};
@@ -999,7 +999,7 @@ class Plane : public AP_Vehicle {
     void read_airspeed(void);
     void rpm_update(void);
     void accel_cal_update(void);
-    void read_aoa(void);                         //This line added by Cole
+    void read_aoa(void);
 
     // system.cpp
     void init_ardupilot() override;