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Added hooks for gyro data analysis

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This commit is contained in:
Martin Budden 2017-02-23 09:23:54 +00:00
parent 2d5d608095
commit ea2ec8b069
11 changed files with 143 additions and 30 deletions
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19
src/main/fc/fc_tasks.c
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@ -72,6 +72,7 @@
#include "sensors/battery.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "sensors/gyroanalyse.h"
#include "sensors/sonar.h"
#include "sensors/esc_sensor.h"
@ -308,6 +309,9 @@ void fcTasksInit(void)
setTaskEnabled(TASK_VTXCTRL, true);
#endif
#endif
#ifdef USE_GYRO_DATA_ANALYSE
setTaskEnabled(TASK_GYRO_DATA_ANALYSE, true);
#endif
}
cfTask_t cfTasks[TASK_COUNT] = {
@ -409,7 +413,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SONAR] = {
.taskName = "SONAR",
.taskFunc = sonarUpdate,
.desiredPeriod = TASK_PERIOD_MS(70), // 70ms required so that SONAR pulses do not interfer with each other
.desiredPeriod = TASK_PERIOD_MS(70), // 70ms required so that SONAR pulses do not interfere with each other
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -479,7 +483,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_ESC_SENSOR] = {
.taskName = "ESC_SENSOR",
.taskFunc = escSensorProcess,
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz every 10ms
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz, 10ms
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -506,8 +510,17 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_VTXCTRL] = {
.taskName = "VTXCTRL",
.taskFunc = taskVtxControl,
.desiredPeriod = TASK_PERIOD_HZ(5), // 5Hz @200msec
.desiredPeriod = TASK_PERIOD_HZ(5), // 5 Hz, 200ms
.staticPriority = TASK_PRIORITY_IDLE,
},
#endif
#ifdef USE_GYRO_DATA_ANALYSE
[TASK_GYRO_DATA_ANALYSE] = {
.taskName = "GYROFFT",
.taskFunc = gyroDataAnalyseUpdate,
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz, 10ms
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#endif
};