static inline void main_periodic_task( void ) {
float rpm = mb_tacho_get_averaged();
mb_current_periodic();
float amps = mb_current_amp;
float thrust = mb_scale_thrust;
float torque = 0.;
mb_mode_periodic(rpm, thrust, amps);
float throttle = mb_modes_throttle;
#if defined USE_TWI_CONTROLLER
mb_twi_controller_set(throttle);
#endif
mb_servo_set(throttle);
RunOnceEvery(125, {
DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
PeriodicSendDlValue(DefaultChannel);
});
static void send_dl_value(void) {
PeriodicSendDlValue(DefaultChannel, DefaultDevice);
}
static void send_dl_value(struct transport_tx *trans, struct link_device *dev)
{
PeriodicSendDlValue(trans, dev);
}
