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Rebased onto current CMS dev

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This commit is contained in:
jflyper 2016-11-01 15:36:57 +09:00
commit 2bf74e0513
46 changed files with 4111 additions and 1627 deletions
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16
src/main/fc/fc_tasks.c
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@ -40,6 +40,8 @@
#include "flight/pid.h"
#include "flight/altitudehold.h"
#include "io/cms.h"
#include "io/beeper.h"
#include "io/display.h"
#include "io/gps.h"
@ -48,6 +50,7 @@
#include "io/serial.h"
#include "io/serial_cli.h"
#include "io/transponder_ir.h"
#include "io/vtx_smartaudio.h"
#include "msp/msp_serial.h"
@ -342,6 +345,10 @@ void fcTasksInit(void)
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
#ifdef CMS
// XXX Should check FEATURE
setTaskEnabled(TASK_CMS, true);
#endif
#ifdef VTX_CONTROL
setTaskEnabled(TASK_VTXCTRL, true);
#endif
@ -505,6 +512,15 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#ifdef CMS
[TASK_CMS] = {
.taskName = "CMS",
.taskFunc = cmsHandler,
.desiredPeriod = 1000000 / 60, // 60 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef VTX_CONTROL
[TASK_VTXCTRL] = {
.taskName = "VTXCTRL",