Add expediting of OSD task

src/main/scheduler/scheduler.c

@@ -93,6 +93,9 @@ static int32_t desiredPeriodCycles;
 static uint32_t lastTargetCycles;
 
 static uint8_t skippedRxAttempts = 0;
+#ifdef USE_OSD
+static uint8_t skippedOSDAttempts = 0;
+#endif
 
 #if defined(USE_LATE_TASK_STATISTICS)
 static int16_t lateTaskCount = 0;
@@ -638,6 +641,11 @@ FAST_CODE void scheduler(void)
                 if ((currentTask - tasks) == TASK_RX) {
                     skippedRxAttempts = 0;
                 }
+#ifdef USE_OSD
+                else if ((currentTask - tasks) == TASK_OSD) {
+                    skippedOSDAttempts = 0;
+                }
+#endif
 
                 if ((cyclesOverdue > 0) || (-cyclesOverdue < taskGuardMinCycles)) {
                     if (taskGuardCycles < taskGuardMaxCycles) {
@@ -650,6 +658,9 @@ FAST_CODE void scheduler(void)
                 taskCount++;
 #endif  // USE_LATE_TASK_STATISTICS
             } else if ((selectedTask->taskAgePeriods > TASK_AGE_EXPEDITE_COUNT) ||
+#ifdef USE_OSD
+                       (((selectedTask - tasks) == TASK_OSD) && (++skippedOSDAttempts > TASK_AGE_EXPEDITE_OSD)) ||
+#endif
                        (((selectedTask - tasks) == TASK_RX) && (++skippedRxAttempts > TASK_AGE_EXPEDITE_RX))) {
                 // If a task has been unable to run, then reduce it's recorded estimated run time to ensure
                 // it's ultimate scheduling

src/main/scheduler/scheduler.h

@@ -48,6 +48,7 @@
 #define TASK_EXEC_TIME_SHIFT            7
 
 #define TASK_AGE_EXPEDITE_RX            25  // Make RX tasks more schedulable if it's failed to be scheduled this many times
+#define TASK_AGE_EXPEDITE_OSD           25  // Make OSD tasks more schedulable if it's failed to be scheduled this many times
 #define TASK_AGE_EXPEDITE_COUNT         1   // Make aged tasks more schedulable
 #define TASK_AGE_EXPEDITE_SCALE         0.9 // By scaling their expected execution time
 

src/test/Makefile

@@ -278,6 +278,8 @@ scheduler_unittest_SRC := \
 		$(USER_DIR)/common/crc.c \
 		$(USER_DIR)/common/streambuf.c
 
+scheduler_unittest_DEFINES := \
+		USE_OSD= 
 
 sensor_gyro_unittest_SRC := \
 		$(USER_DIR)/sensors/gyro.c \

src/test/unit/link_quality_unittest.cc

@@ -512,6 +512,7 @@ extern "C" {
     bool taskUpdateRxMainInProgress() { return true; }
     void schedulerIgnoreTaskStateTime(void) { }
     void schedulerIgnoreTaskExecRate(void) { }
+    bool schedulerGetIgnoreTaskExecTime() { return false; }
     void schedulerIgnoreTaskExecTime(void) { }
     void schedulerSetNextStateTime(timeDelta_t) {}
 

src/test/unit/osd_unittest.cc

@@ -1377,5 +1377,6 @@ extern "C" {
     void schedulerIgnoreTaskStateTime(void) { }
     void schedulerIgnoreTaskExecRate(void) { }
     void schedulerIgnoreTaskExecTime(void) { }
+    bool schedulerGetIgnoreTaskExecTime() { return false; }
     void schedulerSetNextStateTime(timeDelta_t) {}
 }

src/test/unit/scheduler_unittest.cc

@@ -37,6 +37,8 @@ const int TEST_UPDATE_RX_CHECK_TIME = 34;
 const int TEST_UPDATE_RX_MAIN_TIME = 1;
 const int TEST_IMU_UPDATE_TIME = 5;
 const int TEST_DISPATCH_TIME = 1;
+const int TEST_UPDATE_OSD_CHECK_TIME = 5;
+const int TEST_UPDATE_OSD_TIME = 30;
 
 #define TASK_COUNT_UNITTEST (TASK_BATTERY_VOLTAGE + 1)
 #define TASK_PERIOD_HZ(hz) (1000000 / (hz))
@@ -76,6 +78,8 @@ extern "C" {
     void taskUpdateRxMain(timeUs_t) { simulatedTime += TEST_UPDATE_RX_MAIN_TIME; }
     void imuUpdateAttitude(timeUs_t) { simulatedTime += TEST_IMU_UPDATE_TIME; }
     void dispatchProcess(timeUs_t) { simulatedTime += TEST_DISPATCH_TIME; }
+    bool osdUpdateCheck(timeUs_t, timeDelta_t) { simulatedTime += TEST_UPDATE_OSD_CHECK_TIME; return false; }
+    void osdUpdate(timeUs_t) { simulatedTime += TEST_UPDATE_OSD_TIME; }
 
     void resetGyroTaskTestFlags(void) {
         taskGyroRan = false;
@@ -156,6 +160,13 @@ extern "C" {
             .taskFunc = taskUpdateBatteryVoltage,
             .desiredPeriodUs = TASK_PERIOD_HZ(50),
             .staticPriority = TASK_PRIORITY_MEDIUM,
+        },
+        [TASK_OSD] = {
+            .taskName = "OSD",
+            .checkFunc = osdUpdateCheck,
+            .taskFunc = osdUpdate,
+            .desiredPeriodUs = TASK_PERIOD_HZ(12),
+            .staticPriority = TASK_PRIORITY_LOW,
         }
     };