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Merge pull request #7015 from jflyper/bfdev-reinstate-rangefinder-task

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RANGEFINDER: Reinstate rangefinder task
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jflyper 2018-11-01 18:17:02 +09:00 • committed by GitHub
commit 50df255c08
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1 changed files with 16 additions and 0 deletions
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16
src/main/fc/tasks.c
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@ -254,6 +254,13 @@ void fcTasksInit(void)
setTaskEnabled(TASK_ATTITUDE, true);
}
#ifdef USE_RANGEFINDER
if (sensors(SENSOR_RANGEFINDER)) {
setTaskEnabled(TASK_RANGEFINDER, featureIsEnabled(FEATURE_RANGEFINDER));
}
#endif
setTaskEnabled(TASK_RX, true);
setTaskEnabled(TASK_DISPATCH, dispatchIsEnabled());
@ -597,4 +604,13 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_IDLE
},
#endif
#ifdef USE_RANGEFINDER
[TASK_RANGEFINDER] = {
.taskName = "RANGEFINDER",
.taskFunc = rangefinderUpdate,
.desiredPeriod = TASK_PERIOD_HZ(10),
.staticPriority = TASK_PRIORITY_IDLE
},
#endif
};