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Fast Copter Fences #25698

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Feb 28, 2024
Merged

Fast Copter Fences #25698

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9 changes: 3 additions & 6 deletions ArduCopter/Copter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -149,6 +149,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {

SCHED_TASK(rc_loop, 250, 130, 3),
SCHED_TASK(throttle_loop, 50, 75, 6),
#if AP_FENCE_ENABLED
SCHED_TASK(fence_check, 25, 100, 7),
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might be worth moving fence checking to an IO callback, or add a FENCE_OPTIONS bit for fast fence checking

#endif
SCHED_TASK_CLASS(AP_GPS, &copter.gps, update, 50, 200, 9),
#if AP_OPTICALFLOW_ENABLED
SCHED_TASK_CLASS(AP_OpticalFlow, &copter.optflow, update, 200, 160, 12),
Expand Down Expand Up @@ -622,12 +625,6 @@ void Copter::three_hz_loop()
// check for deadreckoning failsafe
failsafe_deadreckon_check();

#if AP_FENCE_ENABLED
// check if we have breached a fence
fence_check();
#endif // AP_FENCE_ENABLED


// update ch6 in flight tuning
tuning();

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