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Merge pull request #9590 from mikeller/clean_up_scheduler

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Cleaned up the scheduler.
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Michael Keller 2020-03-16 18:02:36 +13:00 • committed by GitHub
commit 01f0095296
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20 changed files with 326 additions and 392 deletions
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18
src/main/fc/core.c
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@ -25,11 +25,11 @@
#include "platform.h"
#include "build/debug.h"
#include "blackbox/blackbox.h"
#include "blackbox/blackbox_fielddefs.h"
#include "build/debug.h"
#include "cli/cli.h"
#include "cms/cms.h"
@ -39,6 +39,7 @@
#include "common/maths.h"
#include "common/utils.h"
#include "config/config.h"
#include "config/feature.h"
#include "drivers/dshot.h"
@ -50,21 +51,20 @@
#include "drivers/time.h"
#include "drivers/transponder_ir.h"
#include "config/config.h"
#include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "fc/stats.h"
#include "fc/tasks.h"
#include "flight/failsafe.h"
#include "flight/gps_rescue.h"
#if defined(USE_GYRO_DATA_ANALYSE)
#include "flight/gyroanalyse.h"
#endif
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
@ -105,6 +105,8 @@
#include "telemetry/telemetry.h"
#include "core.h"
enum {
ALIGN_GYRO = 0,
@ -321,7 +323,7 @@ void updateArmingStatus(void)
unsetArmingDisabled(ARMING_DISABLED_ANGLE);
}
if (averageSystemLoadPercent > 100) {
if (getAverageSystemLoadPercent() > LOAD_PERCENTAGE_ONE) {
setArmingDisabled(ARMING_DISABLED_LOAD);
} else {
unsetArmingDisabled(ARMING_DISABLED_LOAD);
@ -1284,8 +1286,8 @@ FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs)
subTaskPidSubprocesses(currentTimeUs);
if (debugMode == DEBUG_CYCLETIME) {
debug[0] = getTaskDeltaTime(TASK_SELF);
debug[1] = averageSystemLoadPercent;
DEBUG_SET(DEBUG_CYCLETIME, 0, getTaskDeltaTimeUs(TASK_SELF));
DEBUG_SET(DEBUG_CYCLETIME, 1, getAverageSystemLoadPercent());
}
}