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Remove Int based PID loop (All target support)

This commit is contained in:
borisbstyle 2016-08-23 00:56:22 +02:00
parent c585ad5ac1
commit f9c827c726
1 changed files with 1 additions and 11 deletions
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12
src/main/mw.c
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@ -815,6 +815,7 @@ void taskMainPidLoopCheck(void)
{ {
static uint32_t previousTime; static uint32_t previousTime;
static bool runTaskMainSubprocesses; static bool runTaskMainSubprocesses;
static uint8_t pidUpdateCountdown;
cycleTime = micros() - previousTime; cycleTime = micros() - previousTime;
previousTime = micros(); previousTime = micros();
@ -824,17 +825,6 @@ void taskMainPidLoopCheck(void)
debug[1] = averageSystemLoadPercent; debug[1] = averageSystemLoadPercent;
} }
const uint32_t startTime = micros();
while (true) {
if (gyroSyncCheckUpdate(&gyro)) {
if (debugMode == DEBUG_PIDLOOP) {debug[0] = micros() - startTime;} // time spent busy waiting
break;
}
}
static uint8_t pidUpdateCountdown;
if (runTaskMainSubprocesses) { if (runTaskMainSubprocesses) {
subTaskMainSubprocesses(); subTaskMainSubprocesses();
runTaskMainSubprocesses = false; runTaskMainSubprocesses = false;