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Increase Acc update in 1khz mode // cleanup

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borisbstyle 2016-01-10 21:21:11 +01:00
parent a42aed332b
commit e0e7db74f1
3 changed files with 11 additions and 9 deletions
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12
src/main/main.c
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@ -548,7 +548,17 @@ int main(void) {
rescheduleTask(TASK_GYROPID, targetLooptime - INTERRUPT_WAIT_TIME);
setTaskEnabled(TASK_GYROPID, true);
setTaskEnabled(TASK_ACCEL, sensors(SENSOR_ACC));
if(sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
switch(targetLooptime) {
case(500):
rescheduleTask(TASK_ACCEL, 10000);
break;
default:
case(1000):
rescheduleTask(TASK_ACCEL, 1000);
}
}
setTaskEnabled(TASK_SERIAL, true);
setTaskEnabled(TASK_BEEPER, true);
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));