标签：
最近在学习APM，由于所做的项目要在APMRover基础上完成。
看了散步蚂蚁的博客（http://blog.sina.com.cn/s/articlelist_1076627230_0_1.html）之后，受益匪浅。
现在也想把自己学习源码的过程和之中遇到的问题记录下来，做个备份，更希望能有高手多多指点，大家一起学习！！！
/*
scheduler table - all regular tasks should be listed here, along
with how often they should be called (in 20ms units) and the maximum
time they are expected to take (in microseconds)
*/
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ read_radio, 1, 1000 },
{ ahrs_update, 1, 6400 },
{ read_sonars, 1, 2000 },
{ update_current_mode, 1, 1500 },
{ set_servos, 1, 1500 },
{ update_GPS_50Hz, 1, 2500 },
{ update_GPS_10Hz, 5, 2500 },
{ update_alt, 5, 3400 },
{ navigate, 5, 1600 },
{ update_compass, 5, 2000 },
{ update_commands, 5, 1000 },
{ update_logging1, 5, 1000 },
{ update_logging2, 5, 1000 },
{ gcs_retry_deferred, 1, 1000 },
{ gcs_update, 1, 1700 },
{ gcs_data_stream_send, 1, 3000 },
{ read_control_switch, 15, 1000 },
{ read_trim_switch, 5, 1000 },
{ read_battery, 5, 1000 },
{ read_receiver_rssi, 5, 1000 },
{ update_events, 1, 1000 },
{ check_usb_mux, 15, 1000 },
{ mount_update, 1, 600 },
{ gcs_failsafe_check, 5, 600 },
{ compass_accumulate, 1, 900 },
{ update_notify, 1, 300 },
{ one_second_loop, 50, 3000 },
#if FRSKY_TELEM_ENABLED == ENABLED
{ telemetry_send, 10, 100 }
#endif
};
接下来将逐个分析一下APMRover每个Task的执行过程。
标签：
原文地址：http://www.cnblogs.com/bgphone/p/4301611.html
