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Code Issues Wiki Activity

Applied 'USE_ACC' consistently.

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This commit is contained in:
mikeller 2019-02-06 17:08:51 +13:00
parent 59ea4becb3
commit b5908f5bab
29 changed files with 250 additions and 155 deletions
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5
src/main/fc/tasks.c
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@ -250,12 +250,13 @@ void fcTasksInit(void)
setTaskEnabled(TASK_GYROPID, true);
}
#if defined(USE_ACC)
if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
rescheduleTask(TASK_ACCEL, acc.accSamplingInterval);
setTaskEnabled(TASK_ATTITUDE, true);
}
#endif
#ifdef USE_RANGEFINDER
if (sensors(SENSOR_RANGEFINDER)) {
@ -393,8 +394,8 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_GYROPID] = DEFINE_TASK("PID", "GYRO", NULL, taskMainPidLoop, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
#ifdef USE_ACC
[TASK_ACCEL] = DEFINE_TASK("ACC", NULL, NULL, taskUpdateAccelerometer, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM),
#endif
[TASK_ATTITUDE] = DEFINE_TASK("ATTITUDE", NULL, NULL, imuUpdateAttitude, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM),
#endif
[TASK_RX] = DEFINE_TASK("RX", NULL, rxUpdateCheck, taskUpdateRxMain, TASK_PERIOD_HZ(33), TASK_PRIORITY_HIGH), // If event-based scheduling doesn't work, fallback to periodic scheduling
[TASK_DISPATCH] = DEFINE_TASK("DISPATCH", NULL, NULL, dispatchProcess, TASK_PERIOD_HZ(1000), TASK_PRIORITY_HIGH),