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Code Issues Wiki Activity

Tidy of fc_tasks

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This commit is contained in:
Martin Budden 2018-02-01 09:06:32 +00:00
parent 67d33b0a52
commit 6678302103
1 changed files with 4 additions and 7 deletions
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11
src/main/fc/fc_tasks.c
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@ -215,6 +215,7 @@ void fcTasksInit(void)
{ {
schedulerInit(); schedulerInit();
setTaskEnabled(TASK_SERIAL, true); setTaskEnabled(TASK_SERIAL, true);
rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
const bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE; const bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage); setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
@ -246,13 +247,9 @@ void fcTasksInit(void)
if (sensors(SENSOR_ACC)) { if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true); setTaskEnabled(TASK_ACCEL, true);
rescheduleTask(TASK_ACCEL, acc.accSamplingInterval); rescheduleTask(TASK_ACCEL, acc.accSamplingInterval);
setTaskEnabled(TASK_ATTITUDE, true);
} }
setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
setTaskEnabled(TASK_RX, true); setTaskEnabled(TASK_RX, true);
setTaskEnabled(TASK_DISPATCH, dispatchIsEnabled()); setTaskEnabled(TASK_DISPATCH, dispatchIsEnabled());
@ -279,8 +276,8 @@ void fcTasksInit(void)
setTaskEnabled(TASK_DASHBOARD, feature(FEATURE_DASHBOARD)); setTaskEnabled(TASK_DASHBOARD, feature(FEATURE_DASHBOARD));
#endif #endif
#ifdef USE_TELEMETRY #ifdef USE_TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
if (feature(FEATURE_TELEMETRY)) { if (feature(FEATURE_TELEMETRY)) {
setTaskEnabled(TASK_TELEMETRY, true);
if (rxConfig()->serialrx_provider == SERIALRX_JETIEXBUS) { if (rxConfig()->serialrx_provider == SERIALRX_JETIEXBUS) {
// Reschedule telemetry to 500hz for Jeti Exbus // Reschedule telemetry to 500hz for Jeti Exbus
rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500)); rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
@ -408,7 +405,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
}, },
[TASK_ACCEL] = { [TASK_ACCEL] = {
.taskName = "ACCEL", .taskName = "ACC",
.taskFunc = taskUpdateAccelerometer, .taskFunc = taskUpdateAccelerometer,
.desiredPeriod = TASK_PERIOD_HZ(1000), // 1000Hz, every 1ms .desiredPeriod = TASK_PERIOD_HZ(1000), // 1000Hz, every 1ms
.staticPriority = TASK_PRIORITY_MEDIUM, .staticPriority = TASK_PRIORITY_MEDIUM,