From 1526adfb44ec33a5d65efe0f0d75b3fe9366446e Mon Sep 17 00:00:00 2001
From: Steve Evans <Steve@SCEvans.com>
Date: Mon, 10 Jan 2022 01:18:05 +0000
Subject: [PATCH] Ignore duration of calcActiveAdjustmentRanges() and optimize
 RX_TASK_DECAY_SHIFT

---
 src/main/fc/rc_adjustments.c          | 4 ++++
 src/main/fc/tasks.c                   | 2 +-
 src/test/unit/rc_controls_unittest.cc | 1 +
 3 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/main/fc/rc_adjustments.c b/src/main/fc/rc_adjustments.c
index d8fb44a8b1..51b7a0e439 100644
--- a/src/main/fc/rc_adjustments.c
+++ b/src/main/fc/rc_adjustments.c
@@ -61,6 +61,8 @@
 
 #include "rc_adjustments.h"
 
+#include "scheduler/scheduler.h"
+
 #define ADJUSTMENT_RANGE_COUNT_INVALID -1
 
 PG_REGISTER_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges, PG_ADJUSTMENT_RANGE_CONFIG, 2);
@@ -834,6 +836,8 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig)
 
     // Recalculate the new active adjustments if required
     if (stepwiseAdjustmentCount == ADJUSTMENT_RANGE_COUNT_INVALID) {
+        // This can take up to 30us and is only call when not armed so ignore this timing as it doesn't impact flight
+        schedulerIgnoreTaskExecTime();
         calcActiveAdjustmentRanges();
     }
 
diff --git a/src/main/fc/tasks.c b/src/main/fc/tasks.c
index a8a41c945e..7c9e7e11f9 100644
--- a/src/main/fc/tasks.c
+++ b/src/main/fc/tasks.c
@@ -115,7 +115,7 @@
 
 // taskUpdateRxMain() has occasional peaks in execution time so normal moving average duration estimation doesn't work
 // Decay the estimated max task duration by 1/(1 << RX_TASK_DECAY_SHIFT) on every invocation
-#define RX_TASK_DECAY_SHIFT 7
+#define RX_TASK_DECAY_SHIFT 6
 // Add a margin to the task duration estimation
 #define RX_TASK_MARGIN 1
 
diff --git a/src/test/unit/rc_controls_unittest.cc b/src/test/unit/rc_controls_unittest.cc
index 6de20d48ae..9ba4b80c54 100644
--- a/src/test/unit/rc_controls_unittest.cc
+++ b/src/test/unit/rc_controls_unittest.cc
@@ -656,4 +656,5 @@ void setLedProfile(uint8_t profile) { UNUSED(profile); }
 uint8_t getLedProfile(void) { return 0; }
 void compassStartCalibration(void) {}
 void pinioBoxTaskControl(void) {}
+void schedulerIgnoreTaskExecTime(void) {}
 }