Report task rate/Hz based on execution of whole state machine, not individual states where appropriate

src/main/fc/tasks.c

@@ -170,18 +170,20 @@ bool taskUpdateRxMainInProgress()
 
 static void taskUpdateRxMain(timeUs_t currentTimeUs)
 {
+    // Where we are using a state machine call ignoreTaskTime() for all states bar one
+    if (rxState != MODES) {
+        ignoreTaskTime();
+    }
+
     switch (rxState) {
     default:
     case CHECK:
-        ignoreTaskTime();
         rxState = PROCESS;
         break;
 
     case PROCESS:
-        ignoreTaskTime();
         if (!processRx(currentTimeUs)) {
             rxState = CHECK;
-            
             break;
         }
         rxState = MODES;
@@ -193,7 +195,6 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
         break;
 
     case UPDATE:
-        ignoreTaskTime();
         // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
         updateRcCommands();
         updateArmingStatus();

src/main/scheduler/scheduler.c

@@ -299,7 +299,6 @@ FAST_CODE timeUs_t schedulerExecuteTask(task_t *selectedTask, timeUs_t currentTi
     if (selectedTask) {
         currentTask = selectedTask;
         ignoreCurrentTaskTime = false;
-        selectedTask->taskLatestDeltaTimeUs = cmpTimeUs(currentTimeUs, selectedTask->lastExecutedAtUs);
 #if defined(USE_TASK_STATISTICS)
         float period = currentTimeUs - selectedTask->lastExecutedAtUs;
 #endif
@@ -314,6 +313,8 @@ FAST_CODE timeUs_t schedulerExecuteTask(task_t *selectedTask, timeUs_t currentTi
             selectedTask->taskFunc(currentTimeBeforeTaskCallUs);
             taskExecutionTimeUs = micros() - currentTimeBeforeTaskCallUs;
             if (!ignoreCurrentTaskTime) {
+                selectedTask->taskLatestDeltaTimeUs = cmpTimeUs(currentTimeUs, selectedTask->lastStatsAtUs);
+                selectedTask->lastStatsAtUs = currentTimeUs;
                 selectedTask->movingSumExecutionTimeUs += taskExecutionTimeUs - selectedTask->movingSumExecutionTimeUs / TASK_STATS_MOVING_SUM_COUNT;
                 selectedTask->movingSumDeltaTimeUs += selectedTask->taskLatestDeltaTimeUs - selectedTask->movingSumDeltaTimeUs / TASK_STATS_MOVING_SUM_COUNT;
                 selectedTask->maxExecutionTimeUs = MAX(selectedTask->maxExecutionTimeUs, taskExecutionTimeUs);
@@ -326,6 +327,7 @@ FAST_CODE timeUs_t schedulerExecuteTask(task_t *selectedTask, timeUs_t currentTi
         } else
 #endif
         {
+            selectedTask->taskLatestDeltaTimeUs = cmpTimeUs(currentTimeUs, selectedTask->lastExecutedAtUs);
             selectedTask->taskFunc(currentTimeUs);
         }
     }

src/main/scheduler/scheduler.h

@@ -170,24 +170,25 @@ typedef struct {
 #endif
     bool (*checkFunc)(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs);
     void (*taskFunc)(timeUs_t currentTimeUs);
-    timeDelta_t desiredPeriodUs;      // target period of execution
+    timeDelta_t desiredPeriodUs;        // target period of execution
-    const int8_t staticPriority;    // dynamicPriority grows in steps of this size
+    const int8_t staticPriority;        // dynamicPriority grows in steps of this size
 
     // Scheduling
-    uint16_t dynamicPriority;       // measurement of how old task was last executed, used to avoid task starvation
+    uint16_t dynamicPriority;           // measurement of how old task was last executed, used to avoid task starvation
     uint16_t taskAgeCycles;
     timeDelta_t taskLatestDeltaTimeUs;
-    timeUs_t lastExecutedAtUs;        // last time of invocation
+    timeUs_t lastExecutedAtUs;          // last time of invocation
-    timeUs_t lastSignaledAtUs;        // time of invocation event for event-driven tasks
+    timeUs_t lastSignaledAtUs;          // time of invocation event for event-driven tasks
-    timeUs_t lastDesiredAt;         // time of last desired execution
+    timeUs_t lastDesiredAt;             // time of last desired execution
 
 #if defined(USE_TASK_STATISTICS)
     // Statistics
     float    movingAverageCycleTimeUs;
     timeUs_t movingSumExecutionTimeUs;  // moving sum over 32 samples
-    timeUs_t movingSumDeltaTimeUs;  // moving sum over 32 samples
+    timeUs_t movingSumDeltaTimeUs;      // moving sum over 32 samples
     timeUs_t maxExecutionTimeUs;
-    timeUs_t totalExecutionTimeUs;    // total time consumed by task since boot
+    timeUs_t totalExecutionTimeUs;      // total time consumed by task since boot
+    timeUs_t lastStatsAtUs;             // time of last stats gathering for rate calculation
 #if defined(USE_LATE_TASK_STATISTICS)
     uint32_t runCount;
     uint32_t lateCount;

src/test/unit/scheduler_unittest.cc

@@ -353,6 +353,7 @@ TEST(SchedulerUnittest, TestSingleTask)
     }
     setTaskEnabled(TASK_ACCEL, true);
     tasks[TASK_ACCEL].lastExecutedAtUs = 1000;
+    tasks[TASK_ACCEL].lastStatsAtUs = 1000;
     simulatedTime = 2050;
     // run the scheduler and check the task has executed
     scheduler();