Split off updateLEDs function from updateRcCommands.
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52b40b1028
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@ -169,7 +169,8 @@ bool isCalibrating()
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return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
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}
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void filterRc(void){
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void filterRc(void)
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{
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static int16_t lastCommand[4] = { 0, 0, 0, 0 };
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static int16_t deltaRC[4] = { 0, 0, 0, 0 };
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static int16_t factor, rcInterpolationFactor;
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@ -287,8 +288,10 @@ static void updateRcCommands(void)
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if (masterConfig.rxConfig.fpvCamAngleDegrees && !FLIGHT_MODE(HEADFREE_MODE)) {
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scaleRcCommandToFpvCamAngle();
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}
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}
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static void updateLEDs(void)
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{
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if (ARMING_FLAG(ARMED)) {
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LED0_ON;
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} else {
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@ -313,10 +316,6 @@ static void updateRcCommands(void)
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warningLedUpdate();
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}
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// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
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if (gyro.temperature)
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gyro.temperature(&telemTemperature1);
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}
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void mwDisarm(void)
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@ -665,6 +664,11 @@ void subTaskMainSubprocesses(void) {
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filterRc();
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}
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// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
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if (gyro.temperature) {
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gyro.temperature(&telemTemperature1);
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}
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#ifdef MAG
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if (sensors(SENSOR_MAG)) {
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updateMagHold();
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@ -856,6 +860,8 @@ void taskUpdateRxMain(void)
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// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
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updateRcCommands();
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updateLEDs();
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#ifdef BARO
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if (sensors(SENSOR_BARO)) {
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updateAltHoldState();
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