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Gyro native rate sampling, filtering, and scheduler restructuring

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This commit is contained in:
Bruce Luckcuck 2020-01-06 07:52:35 -05:00
parent b11565efbe
commit f584780944
42 changed files with 718 additions and 421 deletions
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4
src/test/unit/arming_prevention_unittest.cc
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@ -74,6 +74,7 @@ extern "C" {
int16_t GPS_directionToHome = 0;
acc_t acc = {};
bool mockIsUpright = false;
uint8_t activePidLoopDenom = 1;
}
uint32_t simulationFeatureFlags = 0;
@ -1049,7 +1050,7 @@ extern "C" {
void writeServos(void) {};
bool calculateRxChannelsAndUpdateFailsafe(timeUs_t) { return true; }
bool isMixerUsingServos(void) { return false; }
void gyroUpdate(timeUs_t) {}
void gyroUpdate(void) {}
timeDelta_t getTaskDeltaTime(cfTaskId_e) { return 0; }
void updateRSSI(timeUs_t) {}
bool failsafeIsMonitoring(void) { return false; }
@ -1099,4 +1100,5 @@ extern "C" {
bool compassIsCalibrationComplete(void) { return true; }
bool isUpright(void) { return mockIsUpright; }
void blackboxLogEvent(FlightLogEvent, union flightLogEventData_u *) {};
void gyroFiltering(timeUs_t) {};
}