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Code Issues Wiki Activity

Allow gyro-less booting

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This commit is contained in:
jflyper 2017-06-30 08:51:06 +09:00
parent b9f533abe3
commit adee15a806
5 changed files with 15 additions and 5 deletions
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7
src/main/fc/fc_tasks.c
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@ -259,8 +259,11 @@ void osdSlaveTasksInit(void)
void fcTasksInit(void)
{
schedulerInit();
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
if (sensors(SENSOR_GYRO)) {
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
}
if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);