From 36c3fdb57671a10bdd1c59fa5eb0c93718c14b2a Mon Sep 17 00:00:00 2001
From: Andrey Mironov <diehertz@gmail.com>
Date: Sun, 4 Mar 2018 01:48:22 +0300
Subject: [PATCH] Simplified PID rate counter code (#5350)

---
 src/main/fc/fc_core.c | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 996384a973..f919d17286 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -929,7 +929,7 @@ static void subTaskMotorUpdate(timeUs_t currentTimeUs)
 // Function for loop trigger
 void taskMainPidLoop(timeUs_t currentTimeUs)
 {
-    static uint8_t pidUpdateCountdown = 0;
+    static uint32_t pidUpdateCounter = 0;
 
 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_GYROPID_SYNC)
     if (lockMainPID() != 0) return;
@@ -937,16 +937,13 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
 
     // DEBUG_PIDLOOP, timings for:
     // 0 - gyroUpdate()
-    // 1 - pidController()
+    // 1 - subTaskPidController()
     // 2 - subTaskMotorUpdate()
     // 3 - subTaskMainSubprocesses()
     gyroUpdate(currentTimeUs);
     DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - currentTimeUs);
 
-    if (pidUpdateCountdown) {
-        pidUpdateCountdown--;
-    } else {
-        pidUpdateCountdown = pidConfig()->pid_process_denom - 1;
+    if (pidUpdateCounter++ % pidConfig()->pid_process_denom == 0) {
         subTaskPidController(currentTimeUs);
         subTaskMotorUpdate(currentTimeUs);
         subTaskMainSubprocesses(currentTimeUs);