Fixup after rebase

src/main/fc/fc_tasks.c

@@ -247,8 +247,14 @@ void taskUpdateAttitude(uint32_t currentTime)
 void taskHandleSerial(uint32_t currentTime)
 {
     UNUSED(currentTime);
-
+#ifdef USE_CLI
-    handleSerial();
+    // in cli mode, all serial stuff goes to here. enter cli mode by sending #
+    if (cliMode) {
+        cliProcess();
+        return;
+    }
+#endif
+    mspSerialProcess();
 }
 
 void taskUpdateBeeper(uint32_t currentTime)
@@ -424,7 +430,7 @@ void taskUpdateOsd(uint32_t currentTime)
 void fcTasksInit(void)
 {
     schedulerInit();
-    rescheduleTask(TASK_GYROPID, gyro.targetLooptime + LOOPTIME_SUSPEND_TIME); // Add a littlebit of extra time to reduce busy wait
+    rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
     setTaskEnabled(TASK_GYROPID, true);
 
     if (sensors(SENSOR_ACC)) {

src/main/fc/mw.c

@@ -847,201 +847,3 @@ void taskMainPidLoopCheck(uint32_t currentTime)
         runTaskMainSubprocesses = true;
     }
 }
-<<<<<<< 92d2e3ae91522c306728193a386d350c612249cc
-
-void taskUpdateAccelerometer(uint32_t currentTime)
-{
-    UNUSED(currentTime);
-
-    imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
-}
-
-void taskUpdateAttitude(uint32_t currentTime)
-{
-    imuUpdateAttitude(currentTime);
-}
-
-void taskHandleSerial(uint32_t currentTime)
-{
-    UNUSED(currentTime);
-#ifdef USE_CLI
-    // in cli mode, all serial stuff goes to here. enter cli mode by sending #
-    if (cliMode) {
-        cliProcess();
-        return;
-    }
-#endif
-    mspSerialProcess();
-}
-
-void taskUpdateBeeper(uint32_t currentTime)
-{
-    beeperUpdate(currentTime);          //call periodic beeper handler
-}
-
-void taskUpdateBattery(uint32_t currentTime)
-{
-#ifdef USE_ADC
-    static uint32_t vbatLastServiced = 0;
-    if (feature(FEATURE_VBAT)) {
-        if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
-            vbatLastServiced = currentTime;
-            updateBattery();
-        }
-    }
-#endif
-
-    static uint32_t ibatLastServiced = 0;
-    if (feature(FEATURE_CURRENT_METER)) {
-        const int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
-
-        if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
-            ibatLastServiced = currentTime;
-            updateCurrentMeter(ibatTimeSinceLastServiced, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
-        }
-    }
-}
-
-bool taskUpdateRxCheck(uint32_t currentTime, uint32_t currentDeltaTime)
-{
-    UNUSED(currentDeltaTime);
-    return rxUpdate(currentTime);
-}
-
-void taskUpdateRxMain(uint32_t currentTime)
-{
-    processRx(currentTime);
-    isRXDataNew = true;
-
-#if !defined(BARO) && !defined(SONAR)
-    // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
-    updateRcCommands();
-#endif
-    updateLEDs();
-
-#ifdef BARO
-    if (sensors(SENSOR_BARO)) {
-        updateAltHoldState();
-    }
-#endif
-
-#ifdef SONAR
-    if (sensors(SENSOR_SONAR)) {
-        updateSonarAltHoldState();
-    }
-#endif
-}
-
-#ifdef GPS
-void taskProcessGPS(uint32_t currentTime)
-{
-    // if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
-    // hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
-    // change this based on available hardware
-    if (feature(FEATURE_GPS)) {
-        gpsThread();
-    }
-
-    if (sensors(SENSOR_GPS)) {
-        updateGpsIndicator(currentTime);
-    }
-}
-#endif
-
-#ifdef MAG
-void taskUpdateCompass(uint32_t currentTime)
-{
-    if (sensors(SENSOR_MAG)) {
-        updateCompass(currentTime, &masterConfig.magZero);
-    }
-}
-#endif
-
-#ifdef BARO
-void taskUpdateBaro(uint32_t currentTime)
-{
-    UNUSED(currentTime);
-
-    if (sensors(SENSOR_BARO)) {
-        const uint32_t newDeadline = baroUpdate();
-        if (newDeadline != 0) {
-            rescheduleTask(TASK_SELF, newDeadline);
-        }
-    }
-}
-#endif
-
-#ifdef SONAR
-void taskUpdateSonar(uint32_t currentTime)
-{
-    UNUSED(currentTime);
-
-    if (sensors(SENSOR_SONAR)) {
-        sonarUpdate();
-    }
-}
-#endif
-
-#if defined(BARO) || defined(SONAR)
-void taskCalculateAltitude(uint32_t currentTime)
-{
-    if (false
-#if defined(BARO)
-        || (sensors(SENSOR_BARO) && isBaroReady())
-#endif
-#if defined(SONAR)
-        || sensors(SENSOR_SONAR)
-#endif
-        ) {
-        calculateEstimatedAltitude(currentTime);
-    }}
-#endif
-
-#ifdef DISPLAY
-void taskUpdateDisplay(uint32_t currentTime)
-{
-    if (feature(FEATURE_DISPLAY)) {
-        updateDisplay(currentTime);
-    }
-}
-#endif
-
-#ifdef TELEMETRY
-void taskTelemetry(uint32_t currentTime)
-{
-    telemetryCheckState();
-
-    if (!cliMode && feature(FEATURE_TELEMETRY)) {
-        telemetryProcess(currentTime, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
-    }
-}
-#endif
-
-#ifdef LED_STRIP
-void taskLedStrip(uint32_t currentTime)
-{
-    if (feature(FEATURE_LED_STRIP)) {
-        updateLedStrip(currentTime);
-    }
-}
-#endif
-
-#ifdef TRANSPONDER
-void taskTransponder(uint32_t currentTime)
-{
-    if (feature(FEATURE_TRANSPONDER)) {
-        updateTransponder(currentTime);
-    }
-}
-#endif
-
-#ifdef OSD
-void taskUpdateOsd(uint32_t currentTime)
-{
-    if (feature(FEATURE_OSD)) {
-        updateOsd(currentTime);
-    }
-}
-#endif
-=======
->>>>>>> Reorganisation of tasks into fc_tasks.c