Merge pull request #5095 from martinbudden/bfa_fc_tasks
Tidy of fc_tasks
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commit
f000d7bf10
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@ -215,6 +215,7 @@ void fcTasksInit(void)
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{
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schedulerInit();
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setTaskEnabled(TASK_SERIAL, true);
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rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
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const bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
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setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
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@ -246,13 +247,9 @@ void fcTasksInit(void)
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if (sensors(SENSOR_ACC)) {
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setTaskEnabled(TASK_ACCEL, true);
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rescheduleTask(TASK_ACCEL, acc.accSamplingInterval);
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setTaskEnabled(TASK_ATTITUDE, true);
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}
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setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
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rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
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setTaskEnabled(TASK_RX, true);
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setTaskEnabled(TASK_DISPATCH, dispatchIsEnabled());
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@ -279,8 +276,8 @@ void fcTasksInit(void)
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setTaskEnabled(TASK_DASHBOARD, feature(FEATURE_DASHBOARD));
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#endif
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#ifdef USE_TELEMETRY
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setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
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if (feature(FEATURE_TELEMETRY)) {
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setTaskEnabled(TASK_TELEMETRY, true);
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if (rxConfig()->serialrx_provider == SERIALRX_JETIEXBUS) {
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// Reschedule telemetry to 500hz for Jeti Exbus
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rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
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@ -408,7 +405,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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},
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[TASK_ACCEL] = {
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.taskName = "ACCEL",
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.taskName = "ACC",
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.taskFunc = taskUpdateAccelerometer,
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.desiredPeriod = TASK_PERIOD_HZ(1000), // 1000Hz, every 1ms
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.staticPriority = TASK_PRIORITY_MEDIUM,
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