Ignore duration of calcActiveAdjustmentRanges() and optimize RX_TASK_DECAY_SHIFT

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();
     }
 

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
 

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) {}
 }