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Increase Acc update in 1khz mode // cleanup
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3 changed files with 11 additions and 9 deletions
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@ -548,7 +548,17 @@ int main(void) {
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rescheduleTask(TASK_GYROPID, targetLooptime - INTERRUPT_WAIT_TIME);
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setTaskEnabled(TASK_GYROPID, true);
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setTaskEnabled(TASK_ACCEL, sensors(SENSOR_ACC));
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if(sensors(SENSOR_ACC)) {
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setTaskEnabled(TASK_ACCEL, true);
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switch(targetLooptime) {
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case(500):
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rescheduleTask(TASK_ACCEL, 10000);
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break;
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default:
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case(1000):
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rescheduleTask(TASK_ACCEL, 1000);
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}
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}
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setTaskEnabled(TASK_SERIAL, true);
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setTaskEnabled(TASK_BEEPER, true);
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setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
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