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Dedicated task for GPS Rescue (#11972)

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Jan Post 2022-11-12 10:38:35 +01:00 • committed by GitHub
parent 04a7903756
commit 55237248b0
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5 changed files with 52 additions and 33 deletions
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42
src/main/fc/tasks.c
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@ -53,10 +53,11 @@
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/position.h"
#include "flight/gps_rescue.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/position.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
@ -249,6 +250,18 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
schedulerSetNextStateTime(rxStateDurationFractionUs[rxState] >> RX_TASK_DECAY_SHIFT);
}
#ifdef USE_GPS_RESCUE
static void taskGpsRescue(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
if (gpsRescueIsConfigured()) {
gpsRescueUpdate();
} else {
schedulerIgnoreTaskStateTime();
}
}
#endif
#ifdef USE_BARO
static void taskUpdateBaro(timeUs_t currentTimeUs)
@ -278,6 +291,14 @@ static void taskUpdateMag(timeUs_t currentTimeUs)
}
#endif
#if defined(USE_BARO) || defined(USE_GPS)
static void taskCalculateAltitude(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
calculateEstimatedAltitude();
}
#endif // USE_BARO || USE_GPS
#if defined(USE_RANGEFINDER)
void taskUpdateRangefinder(timeUs_t currentTimeUs)
{
@ -293,14 +314,6 @@ void taskUpdateRangefinder(timeUs_t currentTimeUs)
}
#endif
#if defined(USE_BARO) || defined(USE_GPS)
static void taskCalculateAltitude(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
calculateEstimatedAltitude();
}
#endif // USE_BARO || USE_GPS
#ifdef USE_TELEMETRY
static void taskTelemetry(timeUs_t currentTimeUs)
{
@ -337,6 +350,7 @@ task_t tasks[TASK_COUNT];
// Task ID data in .data (initialised data)
task_attribute_t task_attributes[TASK_COUNT] = {
[TASK_SYSTEM] = DEFINE_TASK("SYSTEM", "LOAD", NULL, taskSystemLoad, TASK_PERIOD_HZ(10), TASK_PRIORITY_MEDIUM_HIGH),
[TASK_MAIN] = DEFINE_TASK("SYSTEM", "UPDATE", NULL, taskMain, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM_HIGH),
[TASK_SERIAL] = DEFINE_TASK("SERIAL", NULL, NULL, taskHandleSerial, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
@ -355,10 +369,12 @@ task_attribute_t task_attributes[TASK_COUNT] = {
[TASK_GYRO] = DEFINE_TASK("GYRO", NULL, NULL, taskGyroSample, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
[TASK_FILTER] = DEFINE_TASK("FILTER", NULL, NULL, taskFiltering, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
[TASK_PID] = DEFINE_TASK("PID", NULL, NULL, taskMainPidLoop, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
#ifdef USE_ACC
[TASK_ACCEL] = DEFINE_TASK("ACC", NULL, NULL, taskUpdateAccelerometer, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM),
[TASK_ATTITUDE] = DEFINE_TASK("ATTITUDE", NULL, NULL, imuUpdateAttitude, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM),
#endif
[TASK_RX] = DEFINE_TASK("RX", NULL, rxUpdateCheck, taskUpdateRxMain, TASK_PERIOD_HZ(33), TASK_PRIORITY_HIGH), // If event-based scheduling doesn't work, fallback to periodic scheduling
[TASK_DISPATCH] = DEFINE_TASK("DISPATCH", NULL, NULL, dispatchProcess, TASK_PERIOD_HZ(1000), TASK_PRIORITY_HIGH),
@ -370,6 +386,10 @@ task_attribute_t task_attributes[TASK_COUNT] = {
[TASK_GPS] = DEFINE_TASK("GPS", NULL, NULL, gpsUpdate, TASK_PERIOD_HZ(TASK_GPS_RATE), TASK_PRIORITY_MEDIUM), // Required to prevent buffer overruns if running at 115200 baud (115 bytes / period < 256 bytes buffer)
#endif
#ifdef USE_GPS_RESCUE
[TASK_GPS_RESCUE] = DEFINE_TASK("GPS_RESCUE", NULL, NULL, taskGpsRescue, TASK_PERIOD_HZ(TASK_GPS_RESCUE_RATE_HZ), TASK_PRIORITY_MEDIUM),
#endif
#ifdef USE_MAG
[TASK_COMPASS] = DEFINE_TASK("COMPASS", NULL, NULL, taskUpdateMag, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
#endif
@ -516,6 +536,10 @@ void tasksInit(void)
setTaskEnabled(TASK_GPS, featureIsEnabled(FEATURE_GPS));
#endif
#ifdef USE_GPS_RESCUE
setTaskEnabled(TASK_GPS_RESCUE, featureIsEnabled(FEATURE_GPS));
#endif
#ifdef USE_MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#endif