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Minor optimisations to PIDLOOP

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This commit is contained in:
Martin Budden 2017-01-08 09:00:56 +00:00
parent 3110f51ccf
commit d8faab6539
7 changed files with 41 additions and 55 deletions
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4
src/main/fc/fc_msp.c
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@ -614,7 +614,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_STATUS_EX:
sbufWriteU16(dst, cycleTime);
sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
#ifdef USE_I2C
sbufWriteU16(dst, i2cGetErrorCounter());
#else
@ -638,7 +638,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_STATUS:
sbufWriteU16(dst, cycleTime);
sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
#ifdef USE_I2C
sbufWriteU16(dst, i2cGetErrorCounter());
#else