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Merge pull request #6259 from etracer65/task_rx_frequency_change 

Change TASK_RX frequency from 50hz (20ms) to 33hz (30ms)
This commit is contained in:
Michael Keller 2018-07-02 23:54:17 +12:00 committed by GitHub
parent 8e9e757448 a754ad4f47
commit a324857813
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 4 additions and 4 deletions
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1
src/main/fc/fc_rc.c
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@ -486,7 +486,6 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
}
} else {
// we have either stopped receiving rx samples (failsafe?) or the sample time is unreasonable so reset the accumulation
validRxFrameTimeMs = 0;
rcSmoothingResetAccumulation(&rcSmoothingData);
}
}

4
src/main/fc/fc_tasks.c
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@ -177,7 +177,7 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
}
static timeUs_t lastRxTimeUs;
currentRxRefreshRate = constrain(currentTimeUs - lastRxTimeUs, 1000, 20000);
currentRxRefreshRate = constrain(currentTimeUs - lastRxTimeUs, 1000, 30000);
lastRxTimeUs = currentTimeUs;
isRXDataNew = true;
@ -459,7 +459,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.taskName = "RX",
.checkFunc = rxUpdateCheck,
.taskFunc = taskUpdateRxMain,
.desiredPeriod = TASK_PERIOD_HZ(50), // If event-based scheduling doesn't work, fallback to periodic scheduling
.desiredPeriod = TASK_PERIOD_HZ(33), // If event-based scheduling doesn't work, fallback to periodic scheduling
.staticPriority = TASK_PRIORITY_HIGH,
},

3
src/main/rx/rx.c
View File

@ -102,6 +102,7 @@ uint32_t rcInvalidPulsPeriod[MAX_SUPPORTED_RC_CHANNEL_COUNT];
#define PPM_AND_PWM_SAMPLE_COUNT 3
#define DELAY_50_HZ (1000000 / 50)
#define DELAY_33_HZ (1000000 / 33)
#define DELAY_10_HZ (1000000 / 10)
#define DELAY_5_HZ (1000000 / 5)
#define SKIP_RC_ON_SUSPEND_PERIOD 1500000 // 1.5 second period in usec (call frequency independent)
@ -542,7 +543,7 @@ bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
}
rxDataProcessingRequired = false;
rxNextUpdateAtUs = currentTimeUs + DELAY_50_HZ;
rxNextUpdateAtUs = currentTimeUs + DELAY_33_HZ;
// only proceed when no more samples to skip and suspend period is over
if (skipRxSamples) {