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Merge pull request #5905 from etracer65/rc_interp_task

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Break out rc interpolation as a separate task and run before pid controller and motor update
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Michael Keller 2018-05-18 13:51:53 +12:00 • committed by GitHub
commit a14302afe2
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1 changed files with 7 additions and 2 deletions
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9
src/main/fc/fc_core.c
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@ -905,8 +905,6 @@ static NOINLINE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value); rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
} }
processRcCommand();
#ifdef USE_SDCARD #ifdef USE_SDCARD
afatfs_poll(); afatfs_poll();
#endif #endif
@ -958,6 +956,12 @@ static void subTaskMotorUpdate(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime); DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
} }
static void subTaskRcCommand(timeUs_t currentTimeUs)
{
processRcCommand();
UNUSED(currentTimeUs);
}
// Function for loop trigger // Function for loop trigger
FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs) FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs)
{ {
@ -976,6 +980,7 @@ FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - currentTimeUs); DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - currentTimeUs);
if (pidUpdateCounter++ % pidConfig()->pid_process_denom == 0) { if (pidUpdateCounter++ % pidConfig()->pid_process_denom == 0) {
subTaskRcCommand(currentTimeUs);
subTaskPidController(currentTimeUs); subTaskPidController(currentTimeUs);
subTaskMotorUpdate(currentTimeUs); subTaskMotorUpdate(currentTimeUs);
subTaskMainSubprocesses(currentTimeUs); subTaskMainSubprocesses(currentTimeUs);