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Merge pull request #5097 from martinbudden/bfa_attitude_task_angle

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Change attitude task freqency when in angle or horizon mode
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Martin Budden 2018-02-01 12:32:35 +00:00 • committed by GitHub
commit eb41132f63
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5 changed files with 9 additions and 5 deletions
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1
src/main/drivers/compass/compass_ak8963.c
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@ -382,7 +382,6 @@ void ak8963BusInit(const busDevice_t *busdev)
#endif
#if defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250))
#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
case BUSTYPE_MPU_SLAVE:
rescheduleTask(TASK_COMPASS, TASK_PERIOD_HZ(40));

3
src/main/fc/fc_core.c
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@ -671,8 +671,11 @@ bool processRx(timeUs_t currentTimeUs)
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
// increase frequency of attitude task to reduce drift when in angle or horizon mode
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(500));
} else {
LED1_OFF;
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(100));
}
if (!IS_RC_MODE_ACTIVE(BOXPREARM) && ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {

4
src/main/fc/fc_tasks.h
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@ -19,8 +19,4 @@
#define LOOPTIME_SUSPEND_TIME 3 // Prevent too long busy wait times
#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
#define TASK_PERIOD_MS(ms) ((ms) * 1000)
#define TASK_PERIOD_US(us) (us)
void fcTasksInit(void);

5
src/main/scheduler/scheduler.h
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@ -19,6 +19,11 @@
#include "common/time.h"
#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
#define TASK_PERIOD_MS(ms) ((ms) * 1000)
#define TASK_PERIOD_US(us) (us)
typedef enum {
TASK_PRIORITY_IDLE = 0, // Disables dynamic scheduling, task is executed only if no other task is active this cycle
TASK_PRIORITY_LOW = 1,

1
src/test/unit/arming_prevention_unittest.cc
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@ -669,4 +669,5 @@ extern "C" {
void dashboardEnablePageCycling(void) {}
void dashboardDisablePageCycling(void) {}
bool imuQuaternionHeadfreeOffsetSet(void) { return true; }
void rescheduleTask(cfTaskId_e, uint32_t) {}
}