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Merge pull request #848 from DzikuVx/bf-double-acc-activation

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fixed double TASK_ACCEL activation
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borisbstyle 2016-07-29 10:46:33 +02:00 • committed by GitHub
commit bb468df1c8
1 changed files with 2 additions and 2 deletions
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4
src/main/main.c
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@ -320,7 +320,7 @@ void init(void)
bool use_unsyncedPwm = masterConfig.use_unsyncedPwm || masterConfig.motor_pwm_protocol == PWM_TYPE_CONVENTIONAL || masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED; bool use_unsyncedPwm = masterConfig.use_unsyncedPwm || masterConfig.motor_pwm_protocol == PWM_TYPE_CONVENTIONAL || masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED;
// Configurator feature abused for enabling Fast PWM // Configurator feature abused for enabling Fast PWM
pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED); pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);
pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol; pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol;
pwm_params.motorPwmRate = use_unsyncedPwm ? masterConfig.motor_pwm_rate : 0; pwm_params.motorPwmRate = use_unsyncedPwm ? masterConfig.motor_pwm_rate : 0;
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand; pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
@ -716,7 +716,7 @@ void main_init(void)
} }
rescheduleTask(TASK_ACCEL, accTargetLooptime); rescheduleTask(TASK_ACCEL, accTargetLooptime);
} }
setTaskEnabled(TASK_ACCEL, sensors(SENSOR_ACC));
setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC)); setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
setTaskEnabled(TASK_SERIAL, true); setTaskEnabled(TASK_SERIAL, true);
#ifdef BEEPER #ifdef BEEPER