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Code Issues Wiki Activity

Removed tasks from PID loop that don't belong there.

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This commit is contained in:
mikeller 2018-06-14 19:01:55 +12:00
parent a7fae6b8f0
commit afb6068400
5 changed files with 45 additions and 22 deletions
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18
src/main/fc/fc_tasks.c
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@ -186,6 +186,8 @@ static void taskCalculateAltitude(timeUs_t currentTimeUs)
static void taskTelemetry(timeUs_t currentTimeUs)
{
if (!cliMode && feature(FEATURE_TELEMETRY)) {
subTaskTelemetryPollSensors(currentTimeUs);
telemetryProcess(currentTimeUs);
}
}
@ -205,6 +207,9 @@ void taskCameraControl(uint32_t currentTime)
void fcTasksInit(void)
{
schedulerInit();
setTaskEnabled(TASK_SYSTEM, true);
setTaskEnabled(TASK_SERIAL, true);
rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
@ -318,10 +323,19 @@ void fcTasksInit(void)
}
cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SYSTEM_LOAD] = {
.taskName = "SYSTEM",
.subTaskName = "LOAD",
.taskFunc = taskSystemLoad,
.desiredPeriod = TASK_PERIOD_HZ(10), // 10Hz, every 100 ms
.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
},
[TASK_SYSTEM] = {
.taskName = "SYSTEM",
.taskFunc = taskSystem,
.desiredPeriod = TASK_PERIOD_HZ(10), // 10Hz, every 100 ms
.subTaskName = "UPDATE",
.taskFunc = taskMain,
.desiredPeriod = TASK_PERIOD_HZ(100),
.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
},