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Code Issues Wiki Activity

Cleaned up the RX handler some.

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This commit is contained in:
mikeller 2020-03-08 17:19:09 +13:00
parent 6a6fd23742
commit d13e83b91b
10 changed files with 50 additions and 35 deletions
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19
src/main/fc/tasks.c
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@ -160,32 +160,19 @@ static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
static timeUs_t lastRxTimeUs;
if (!processRx(currentTimeUs)) {
return;
}
timeDelta_t frameAgeUs;
timeDelta_t refreshRateUs = rxGetFrameDelta(&frameAgeUs);
if (!refreshRateUs || cmpTimeUs(currentTimeUs, lastRxTimeUs) <= frameAgeUs) {
if (!rxTryGetFrameDeltaOrZero(&refreshRateUs)) {
refreshRateUs = cmpTimeUs(currentTimeUs, lastRxTimeUs); // calculate a delta here if not supplied by the protocol
}
}
lastRxTimeUs = currentTimeUs;
currentRxRefreshRate = constrain(refreshRateUs, 1000, 30000);
isRXDataNew = true;
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
updateArmingStatus();
#ifdef USE_USB_CDC_HID
if (!ARMING_FLAG(ARMED)) {
sendRcDataToHid();
}
#endif
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
updateArmingStatus();
}
#ifdef USE_BARO