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Add USE_ACC conditionals

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This commit is contained in:
jflyper 2018-10-09 00:06:05 +09:00
parent af84f9e99d
commit cc0e689bb5
9 changed files with 31 additions and 2 deletions
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4
src/main/fc/tasks.c
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@ -149,10 +149,12 @@ static void taskBatteryAlerts(timeUs_t currentTimeUs)
batteryUpdateAlarms();
}
#ifdef USE_ACC
static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
{
accUpdate(currentTimeUs, &accelerometerConfigMutable()->accelerometerTrims);
}
#endif
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
@ -389,7 +391,9 @@ cfTask_t cfTasks[TASK_COUNT] = {
#endif
[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),
[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),