Rely on AP_Vehicle to handle main loop() #13399
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peterbarker
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Parameters may not be available in the constructor, and that's what we need to be clamping.
So the loop rate gets clamped before we memoise it and the loop period in AP_Scheduler
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I was concerned that constructor ordering might cause parameters not to be available in the scheduler at boot. Turns out that it was no worse than master, which clamped the value before we loaded parameters... Adding patches on top to fix that. |
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I flashed this onto a Minipix - Rover, Plane and Copter. Seems to work as intended. |
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I just flew this one a Solo. As discussed on devcall, merging. |
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Tested on AntennaTracker on CubeBlack.