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Code Issues Wiki Activity

Cleaned up the scheduler.

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This commit is contained in:
mikeller 2020-03-15 13:28:30 +13:00
parent b729c3cc99
commit db4bd1f186
20 changed files with 326 additions and 392 deletions
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4
src/main/msp/msp.c
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@ -986,7 +986,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
boxBitmask_t flightModeFlags;
const int flagBits = packFlightModeFlags(&flightModeFlags);
sbufWriteU16(dst, getTaskDeltaTime(TASK_PID));
sbufWriteU16(dst, getTaskDeltaTimeUs(TASK_PID));
#ifdef USE_I2C
sbufWriteU16(dst, i2cGetErrorCounter());
#else
@ -995,7 +995,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_RANGEFINDER) << 4 | sensors(SENSOR_GYRO) << 5);
sbufWriteData(dst, &flightModeFlags, 4); // unconditional part of flags, first 32 bits
sbufWriteU8(dst, getCurrentPidProfileIndex());
sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
sbufWriteU16(dst, constrain(getAverageSystemLoadPercent(), 0, LOAD_PERCENTAGE_ONE));
if (cmdMSP == MSP_STATUS_EX) {
sbufWriteU8(dst, PID_PROFILE_COUNT);
sbufWriteU8(dst, getCurrentControlRateProfileIndex());