Changes the blink logic to be OSD task loop based instead of time based.
The previous logic used a 200ms time interval for the blinking which didn't align well with the default 12hz OSD update frequency resulting in the logic periodically missing intervals resulting in an inconsistent blinking.
As the revised logic is now tied to the OSD task iterations the blinking will be consistent. However due to the timing the blink will be slightly faster - 167ms (6hz) vs. the previous 200ms (5hz) intervals. Technically the blinking was 6hz before but stuttered every 5th blink.
Since the OSD task rate can be changed from the default 60hz, the logic will fall back to the time-based implementation for non-default task rates.
Previously the task was always enabled and there's no reason for it to be running if there are no boxID associations.
Saves a few cycles by not running. But has a bigger effect on the scheduler by minimizing the number of active tasks when possible.
The CMS task was configured to run at 60hz but there was limiting logic in place to restrict it to every 50ms (20hz). Remove the extra logic and simply run the task at 20hz.
There was incorrect logic that checked if `(cmsDeviceCount < 0)` to not run the task. Firstly `cmsDeviceCount` can never be < 0, and secondly the task should not run when it is 0 as that means there are no registered `displayPort` devices. Generally fix the logic to used `unsigned` for `cmsDeviceCount`. It can only ever be increaded (new device registered) and there is no mechanism to "unregister" a device.
Lots of coding style cleanup.
First draft
Change method to percentage compensation
fast sag filter with fast battery updates
Renaming, moving factors to init where possible
Names changed, display update frequency reverted to 50hz as it was
50Hz ESC Voltage sampling, battery sag lowpass for PID compensation.
increment PG_PID_PROFILE, element added to end of batteryConfig_t
all HZ_TO_INTERVALs set back to 200 to match battery task frequency of 200hz.
Add a flag to control vbat comp
Flag vbat_sag_comp_enabled allows battery compensation to be enabled or
disabled from the CLI. When disabled the battery voltage task is run at
50Hz and the battery compensation code is not run. When enabled the
voltage task is run at 200Hz and the compensation code runs. Constants
for the fast and slow rates are added to tasks.h. The default value for
vbat_sag_compensation is changed to 100 as we no longer need to use it
to disable the feature.
Fixed variable task frequency setting.
Added config validation to disable sag compensation unless ADC is used as the voltage data source.
Added conditionals, fixed naming.
Fixed build.
Adds accuracy to the frame rate measurements used to configure RC smoothing. Prevents looptime delays and jitter from affecting the calculations. Significantly improves the accuracy of the measurement in cases where CPU load is high.
Implemented so that each protocol can individually provide the functionality if appropriate. If a protocol doesn't support the more granular measurement then the system will fallback to the original measurement calculated in the RX task.
