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Merge corrections

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This commit is contained in:
borisbstyle 2016-03-01 14:14:26 +01:00
parent c80b8cd718
commit 7386d88d0e
6 changed files with 34 additions and 46 deletions
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8
src/main/main.c
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@ -663,10 +663,13 @@ int main(void) {
init();
/* Setup scheduler */
schedulerInit();
rescheduleTask(TASK_GYROPID, targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
setTaskEnabled(TASK_MOTOR, true);
rescheduleTask(TASK_MOTOR, lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000));
if(sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
switch(targetLooptime) { // Switch statement kept in place to change acc rates in the future
@ -713,6 +716,8 @@ int main(void) {
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
// Reschedule telemetry to 500hz for Jeti Exbus
if (feature(FEATURE_TELEMETRY) || masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) rescheduleTask(TASK_TELEMETRY, 2000);
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
@ -721,7 +726,6 @@ int main(void) {
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
#endif
schedulerInit();
while (1) {
scheduler();
processLoopback();