dev: correct documentation of how-to-schedule-your-code document

dev/source/docs/code-overview-scheduling-your-new-code-to-run-intermittently.rst

@@ -15,65 +15,44 @@ scheduler.  This can be done by adding your new function to the
 `scheduler_tasks <https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/Copter.cpp#L91>`__
 array in
 `Copter.cpp <https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/Copter.cpp>`__. 
-Note that there are actually two task lists, `the upper list <https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/Copter.cpp#L788>`__
-is for high speed CPUs (i.e. Pixhawk) and the `lower list <https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/Copter.cpp#L856>`__
-is for slow CPUs (i.e. APM2).
 
-Adding a task is fairly simple, just create a new row in the list
-(higher in the list means high priority).  The first column holds the
-function name, the 2nd is a number of 2.5ms units (or 10ms units in case
-of APM2).  So if you wanted the function executed at 400Hz this column
-would contain "1", if you wanted 50Hz it would contain "8".  The final
-column holds the number of microseconds (i.e. millions of a second) the
-function is expected to take.  This helps the scheduler guess whether or
-not there is enough time to run your function before the main loop
-starts the next iteration.
+Helpers are provided to create entries in the scheduler table; see the documentation referenced above.
 
 ::
 
-    /*
-      scheduler table - all regular tasks apart from the fast_loop()
-      should be listed here, along with how often they should be called
-      (in 10ms units) and the maximum time they are expected to take (in
-      microseconds)
-     */
-    static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
-        { update_GPS,            2,     900 },
-        { update_nav_mode,       1,     400 },
-        { medium_loop,           2,     700 },
-        { update_altitude,      10,    1000 },
-        { fifty_hz_loop,         2,     950 },
-        { run_nav_updates,      10,     800 },
-        { slow_loop,            10,     500 },
-        { gcs_check_input,       2,     700 },
-        { gcs_send_heartbeat,  100,     700 },
-        { gcs_data_stream_send,  2,    1500 },
-        { gcs_send_deferred,     2,    1200 },
-        { compass_accumulate,    2,     700 },
-        { barometer_accumulate,  2,     900 },
-        { super_slow_loop,     100,    1100 },
-          { my_new_function,      10,     200 },
-        { perf_update,        1000,     500 }
-    };
+    const AP_Scheduler::Task Copter::scheduler_tasks[] = {
+        // update INS immediately to get current gyro data populated
+        FAST_TASK_CLASS(AP_InertialSensor, &copter.ins, update),
+        // run low level rate controllers that only require IMU data
+        FAST_TASK(run_rate_controller),
+    #if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
+        FAST_TASK(run_custom_controller),
+    #endif
+    .
+    .
+        SCHED_TASK_CLASS(GCS,                  (GCS*)&copter._gcs,          update_receive, 400, 180, 102),
+        SCHED_TASK_CLASS(GCS,                  (GCS*)&copter._gcs,          update_send,    400, 550, 105),
+    #if HAL_MOUNT_ENABLED
+        SCHED_TASK_CLASS(AP_Mount,             &copter.camera_mount,        update,          50,  75, 108),
+    #endif
+    #if AP_CAMERA_ENABLED
+        SCHED_TASK_CLASS(AP_Camera,            &copter.camera,              update,          50,  75, 111),
+    .
+    .
 
 Running your code as part of one of the loops
 =============================================
 
-Instead of creating a new entry in the scheduler task list, you can add
-your function to one of the existing timed loops.  There is no real
-advantage to this approach over the above approach except in the case of
-the fast-loop.  Adding your function to the fast-loop will mean that it
-runs at the highest possible priority (i.e. it is nearly 100% guaranteed
-to run at 400Hz).
+Instead of creating a new entry in the scheduler task list, you can
+add your function to one of the existing timed loops.  There is no
+real advantage to this approach over the above approach.
 
--  `fast_loop <https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/Copter.cpp#L229>`__
-   : runs at 100Hz on APM2, 400Hz on Pixhawk
 -  `fifty_hz_loop <https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/Copter.cpp#L370>`__
    : runs at 50Hz
 -  `ten_hz_logging_loop <https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/Copter.cpp#L333>`__:
    runs at 10Hz
 -  `three_hz_loop <https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/Copter.cpp#L398>`__:
-   runs at 3.3Hz
+   runs at 3Hz
 -  `one_hz_loop <https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/Copter.cpp#L417>`__
    : runs at 1Hz