Fix BST // Sync motor to PID loop (less CPU)

src/main/main.c

@@ -668,14 +668,6 @@ int main(void) {
     rescheduleTask(TASK_GYROPID, targetLooptime);
     setTaskEnabled(TASK_GYROPID, true);
 
-    setTaskEnabled(TASK_MOTOR, true);
-
-    if (feature(FEATURE_ONESHOT125)) {
-        rescheduleTask(TASK_MOTOR, constrain(lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000), 250, 3500));
-    } else {
-        rescheduleTask(TASK_MOTOR, 1000);
-    }
-
     if(sensors(SENSOR_ACC)) {
         setTaskEnabled(TASK_ACCEL, true);
         switch(targetLooptime) {  // Switch statement kept in place to change acc rates in the future
@@ -732,6 +724,10 @@ int main(void) {
 #ifdef TRANSPONDER
     setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
 #endif
+#ifdef USE_BST
+    setTaskEnabled(TASK_BST_READ_WRITE, true);
+    setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
+#endif
 
     while (1) {
         scheduler();

src/main/mw.c

@@ -766,6 +766,7 @@ void taskMainPidLoopCheck(void) {
             static uint8_t pidUpdateCountdown;
 
             if (runTaskMainSubprocesses) {
+                taskMotorUpdate();
                 subTasksMainPidLoop();
                 runTaskMainSubprocesses = false;
             }

src/main/scheduler.h

@@ -44,7 +44,6 @@ typedef enum {
     /* Actual tasks */
     TASK_SYSTEM = 0,
     TASK_GYROPID,
-    TASK_MOTOR,
     TASK_ATTITUDE,
     TASK_ACCEL,
     TASK_SERIAL,

src/main/scheduler_tasks.c

@@ -23,7 +23,6 @@
 #include "scheduler.h"
 
 void taskMainPidLoopCheck(void);
-void taskMotorUpdate(void);
 void taskUpdateAccelerometer(void);
 void taskHandleSerial(void);
 void taskUpdateAttitude(void);
@@ -59,13 +58,6 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .subTaskName = "GYRO",
         .taskFunc = taskMainPidLoopCheck,
         .desiredPeriod = 1000,
-        .staticPriority = TASK_PRIORITY_HIGH,
-    },
-
-    [TASK_MOTOR] = {
-        .taskName = "MOTOR",
-        .taskFunc = taskMotorUpdate,
-        .desiredPeriod = 1000,
         .staticPriority = TASK_PRIORITY_REALTIME,
     },