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Merge branch 'master' into development

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borisbstyle 2016-08-20 23:33:56 +02:00
commit b6d581bb73
6 changed files with 47 additions and 53 deletions
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41
src/main/fc/mw.c
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@ -817,8 +817,6 @@ void taskMainPidLoopCheck(void)
static uint32_t previousTime;
static bool runTaskMainSubprocesses;
const uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
cycleTime = micros() - previousTime;
previousTime = micros();
@ -828,30 +826,31 @@ void taskMainPidLoopCheck(void)
}
const uint32_t startTime = micros();
while (true) {
if (gyroSyncCheckUpdate(&gyro) || ((currentDeltaTime + (micros() - previousTime)) >= (gyro.targetLooptime + GYRO_WATCHDOG_DELAY))) {
static uint8_t pidUpdateCountdown;
if (gyroSyncCheckUpdate(&gyro)) {
if (debugMode == DEBUG_PIDLOOP) {debug[0] = micros() - startTime;} // time spent busy waiting
if (runTaskMainSubprocesses) {
subTaskMainSubprocesses();
runTaskMainSubprocesses = false;
}
gyroUpdate();
if (pidUpdateCountdown) {
pidUpdateCountdown--;
} else {
pidUpdateCountdown = setPidUpdateCountDown();
subTaskPidController();
subTaskMotorUpdate();
runTaskMainSubprocesses = true;
}
break;
}
}
static uint8_t pidUpdateCountdown;
if (runTaskMainSubprocesses) {
subTaskMainSubprocesses();
runTaskMainSubprocesses = false;
}
gyroUpdate();
if (pidUpdateCountdown) {
pidUpdateCountdown--;
} else {
pidUpdateCountdown = setPidUpdateCountDown();
subTaskPidController();
subTaskMotorUpdate();
runTaskMainSubprocesses = true;
}
}
void taskUpdateAccelerometer(void)