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Lock altitude task to 100Hz

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+ fix baro calibration
+ baro refactoring
This commit is contained in:
KarateBrot 2022-10-20 16:01:24 +02:00
parent c5468981e6
commit f17a2af8c3
10 changed files with 54 additions and 86 deletions
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20
src/main/fc/tasks.c
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@ -294,23 +294,7 @@ void taskUpdateRangefinder(timeUs_t currentTimeUs)
#endif
#if defined(USE_BARO) || defined(USE_GPS)
static bool taskAltitudeCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs)
{
UNUSED(currentTimeUs);
#if defined(USE_BARO)
if (isBaroSampleReady()) {
return true;
}
#endif
if (currentDeltaTimeUs > getTask(TASK_ALTITUDE)->attribute->desiredPeriodUs) {
return true;
}
return false;
}
static void taskCalculateAltitude(timeUs_t currentTimeUs)
static void taskCalculateAltitude(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
calculateEstimatedAltitude();
@ -395,7 +379,7 @@ task_attribute_t task_attributes[TASK_COUNT] = {
#endif
#if defined(USE_BARO) || defined(USE_GPS)
[TASK_ALTITUDE] = DEFINE_TASK("ALTITUDE", NULL, taskAltitudeCheck, taskCalculateAltitude, TASK_PERIOD_HZ(TASK_ALTITUDE_RATE_HZ), TASK_PRIORITY_LOW),
[TASK_ALTITUDE] = DEFINE_TASK("ALTITUDE", NULL, NULL, taskCalculateAltitude, TASK_PERIOD_HZ(TASK_ALTITUDE_RATE_HZ), TASK_PRIORITY_LOW),
#endif
#ifdef USE_DASHBOARD