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Fixed rangefinder reading.

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This commit is contained in:
mikeller 2020-06-01 15:19:44 +12:00
parent 6bada9c5e9
commit 4923057eb3
6 changed files with 62 additions and 69 deletions
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17
src/main/fc/tasks.c
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@ -189,6 +189,21 @@ static void taskUpdateBaro(timeUs_t currentTimeUs)
}
#endif
#if defined(USE_RANGEFINDER)
void taskUpdateRangefinder(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
if (!sensors(SENSOR_RANGEFINDER)) {
return;
}
rangefinderUpdate();
rangefinderProcess(getCosTiltAngle());
}
#endif
#if defined(USE_BARO) || defined(USE_GPS)
static void taskCalculateAltitude(timeUs_t currentTimeUs)
{
@ -476,7 +491,7 @@ task_t tasks[TASK_COUNT] = {
#endif
#ifdef USE_RANGEFINDER
[TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, rangefinderUpdate, TASK_PERIOD_HZ(10), TASK_PRIORITY_IDLE),
[TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, taskUpdateRangefinder, TASK_PERIOD_HZ(10), TASK_PRIORITY_IDLE),
#endif
};