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Split rx processing into three states to eliminate cycle time jitter

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Allow tasks with state machines to control which state determines task duration

Fix unit tests
This commit is contained in:
Steve Evans 2021-03-07 20:46:25 +00:00
parent bc4372588b
commit 25fcacf4c5
11 changed files with 89 additions and 20 deletions
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18
src/main/fc/core.c
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@ -744,11 +744,6 @@ bool isAirmodeActivated()
*/
bool processRx(timeUs_t currentTimeUs)
{
static bool armedBeeperOn = false;
#ifdef USE_TELEMETRY
static bool sharedPortTelemetryEnabled = false;
#endif
timeDelta_t frameAgeUs;
timeDelta_t frameDeltaUs = rxGetFrameDelta(&frameAgeUs);
@ -891,6 +886,17 @@ bool processRx(timeUs_t currentTimeUs)
}
#endif
return true;
}
void processRxModes(timeUs_t currentTimeUs)
{
static bool armedBeeperOn = false;
#ifdef USE_TELEMETRY
static bool sharedPortTelemetryEnabled = false;
#endif
const throttleStatus_e throttleStatus = calculateThrottleStatus();
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
@ -1082,8 +1088,6 @@ bool processRx(timeUs_t currentTimeUs)
#endif
pidSetAntiGravityState(IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || featureIsEnabled(FEATURE_ANTI_GRAVITY));
return true;
}
static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)