From 24b4d37d430d6ccc0d6b9f24e85ad9ac3742fda7 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Wed, 2 Mar 2016 00:10:29 +0100
Subject: [PATCH] Add Attitude task

---
 src/main/main.c            | 1 +
 src/main/mw.c              | 5 ++++-
 src/main/scheduler.h       | 1 +
 src/main/scheduler_tasks.c | 8 ++++++++
 4 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/src/main/main.c b/src/main/main.c
index 764b1f43ad..586f682c5e 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -696,6 +696,7 @@ int main(void) {
         rescheduleTask(TASK_ACCEL, accTargetLooptime);
     }
     setTaskEnabled(TASK_ACCEL, sensors(SENSOR_ACC));
+    setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
     setTaskEnabled(TASK_SERIAL, true);
 #ifdef BEEPER
     setTaskEnabled(TASK_BEEPER, true);
diff --git a/src/main/mw.c b/src/main/mw.c
index 29bcf7425f..867a0c324b 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -657,7 +657,6 @@ void taskMainPidLoop(void)
 }
 
 void subTasksMainPidLoop(void) {
-    imuUpdateAttitude();
 
     if (masterConfig.rxConfig.rcSmoothing || flightModeFlags) {
         filterRc();
@@ -791,6 +790,10 @@ void taskUpdateAccelerometer(void)
     imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
 }
 
+void taskUpdateAttitude(void) {
+    imuUpdateAttitude();
+}
+
 void taskHandleSerial(void)
 {
     handleSerial();
diff --git a/src/main/scheduler.h b/src/main/scheduler.h
index 1b17c89853..af789c5c48 100755
--- a/src/main/scheduler.h
+++ b/src/main/scheduler.h
@@ -45,6 +45,7 @@ typedef enum {
     TASK_SYSTEM = 0,
     TASK_GYROPID,
     TASK_MOTOR,
+    TASK_ATTITUDE,
     TASK_ACCEL,
     TASK_SERIAL,
 #ifdef BEEPER
diff --git a/src/main/scheduler_tasks.c b/src/main/scheduler_tasks.c
index 79276d0061..e14ddd980c 100644
--- a/src/main/scheduler_tasks.c
+++ b/src/main/scheduler_tasks.c
@@ -26,6 +26,7 @@ void taskMainPidLoopCheck(void);
 void taskMotorUpdate(void);
 void taskUpdateAccelerometer(void);
 void taskHandleSerial(void);
+void taskUpdateAttitude(void);
 void taskUpdateBeeper(void);
 void taskUpdateBattery(void);
 bool taskUpdateRxCheck(uint32_t currentDeltaTime);
@@ -68,6 +69,13 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .staticPriority = TASK_PRIORITY_REALTIME,
     },
 
+    [TASK_ATTITUDE] = {
+        .taskName = "ATTITUDE",
+        .taskFunc = taskUpdateAttitude,
+        .desiredPeriod = 1000000 / 100,
+        .staticPriority = TASK_PRIORITY_MEDIUM,
+    },
+
     [TASK_ACCEL] = {
         .taskName = "ACCEL",
         .taskFunc = taskUpdateAccelerometer,