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Code Issues Wiki Activity

GPS - handling incoming data as soon as possible to avoid observed GPS

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packet loss.
This commit is contained in:
Dominic Clifton 2014-12-13 01:45:48 +00:00
parent 31ba3b7c94
commit 62134057f0
2 changed files with 10 additions and 15 deletions
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19
src/main/mw.c
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@ -400,7 +400,6 @@ typedef enum {
#if defined(BARO) || defined(SONAR)
CALCULATE_ALTITUDE_TASK,
#endif
UPDATE_GPS_TASK,
UPDATE_DISPLAY_TASK
} periodicTasks;
@ -444,17 +443,6 @@ void executePeriodicTasks(void)
}
break;
#endif
#ifdef GPS
case UPDATE_GPS_TASK:
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
// change this based on available hardware
if (feature(FEATURE_GPS)) {
gpsThread();
}
break;
#endif
#ifdef SONAR
case UPDATE_SONAR_TASK:
if (sensors(SENSOR_SONAR)) {
@ -622,6 +610,13 @@ void loop(void)
} else {
// not processing rx this iteration
executePeriodicTasks();
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
// change this based on available hardware
if (feature(FEATURE_GPS)) {
gpsThread();
}
}
currentTime = micros();