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Code Issues Wiki Activity

Retain altitude calculation

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This commit is contained in:
Martin Budden 2017-11-19 13:13:14 +00:00
parent d22b01b5ec
commit 417acc8f01
2 changed files with 16 additions and 9 deletions
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8
src/main/fc/fc_tasks.c
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@ -185,7 +185,7 @@ static void taskUpdateBaro(timeUs_t currentTimeUs)
}
#endif
#if defined(USE_ALT_HOLD)
#if defined(USE_BARO) || defined(USE_SONAR)
static void taskCalculateAltitude(timeUs_t currentTimeUs)
{
if (false
@ -198,7 +198,7 @@ static void taskCalculateAltitude(timeUs_t currentTimeUs)
) {
calculateEstimatedAltitude(currentTimeUs);
}}
#endif // USE_ALT_HOLD
#endif // USE_BARO || USE_SONAR
#ifdef USE_TELEMETRY
static void taskTelemetry(timeUs_t currentTimeUs)
@ -297,7 +297,7 @@ void fcTasksInit(void)
#ifdef USE_SONAR
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
#endif
#ifdef USE_ALT_HOLD
#if defined(USE_BARO) || defined(USE_SONAR)
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
#endif
#ifdef USE_DASHBOARD
@ -503,7 +503,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#if defined(USE_ALT_HOLD)
#if defined(USE_BARO) || defined(USE_SONAR)
[TASK_ALTITUDE] = {
.taskName = "ALTITUDE",
.taskFunc = taskCalculateAltitude,