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Code Issues Wiki Activity

Altitude hold for 4.6 (#13816)

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ctzsnooze 2024-09-04 20:29:03 +10:00 • committed by GitHub
parent 350510603c
commit 254da8f460
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46 changed files with 805 additions and 108 deletions
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9
src/main/fc/tasks.c
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@ -58,6 +58,7 @@
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/position.h"
#include "flight/alt_hold.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
@ -382,6 +383,10 @@ task_attribute_t task_attributes[TASK_COUNT] = {
[TASK_GPS_RESCUE] = DEFINE_TASK("GPS_RESCUE", NULL, NULL, taskGpsRescue, TASK_PERIOD_HZ(TASK_GPS_RESCUE_RATE_HZ), TASK_PRIORITY_MEDIUM),
#endif
#ifdef USE_ALT_HOLD_MODE
[TASK_ALTHOLD] = DEFINE_TASK("ALTHOLD", NULL, NULL, updateAltHoldState, TASK_PERIOD_HZ(ALTHOLD_TASK_RATE_HZ), TASK_PRIORITY_LOW),
#endif
#ifdef USE_MAG
[TASK_COMPASS] = DEFINE_TASK("COMPASS", NULL, NULL, taskUpdateMag, TASK_PERIOD_HZ(TASK_COMPASS_RATE_HZ), TASK_PRIORITY_LOW),
#endif
@ -537,6 +542,10 @@ void tasksInit(void)
setTaskEnabled(TASK_GPS_RESCUE, featureIsEnabled(FEATURE_GPS));
#endif
#ifdef USE_ALT_HOLD_MODE
setTaskEnabled(TASK_ALTHOLD, true);
#endif
#ifdef USE_MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#endif