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Code Issues Wiki Activity

Further 2khz Stability Enhancements

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This commit is contained in:
borisbstyle 2015-12-24 02:35:01 +01:00
parent a3fe45d774
commit 6d679b72e1
5 changed files with 38 additions and 23 deletions
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8
src/main/scheduler.c
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@ -27,7 +27,7 @@
#include "drivers/system.h"
#define SCHEDULER_DEBUG
//#define SCHEDULER_DEBUG
cfTaskId_e currentTaskId = TASK_NONE;
@ -62,8 +62,7 @@ typedef struct {
#endif
} cfTask_t;
bool taskMainPidLoopCheck(uint32_t currentDeltaTime);
void taskMainPidLoop(void);
void taskMainPidLoopCheck(void);
void taskUpdateAccelerometer(void);
void taskHandleSerial(void);
void taskUpdateBeeper(void);
@ -91,8 +90,7 @@ static cfTask_t cfTasks[TASK_COUNT] = {
[TASK_GYROPID] = {
.taskName = "GYRO/PID",
.checkFunc = taskMainPidLoopCheck,
.taskFunc = taskMainPidLoop,
.taskFunc = taskMainPidLoopCheck,
.desiredPeriod = 1000,
.staticPriority = TASK_PRIORITY_REALTIME,
},