void vTask10HZ(void *pvParameters)
{
for(;;)
{
vTaskDelay( 100 / portTICK_RATE_MS );
// calculate osd_curr_consumed_mah(simulation)
osd_curr_consumed_mah += (osd_curr_A * 0.00027777778f);
// calculate osd_total_trip_dist(simulation)
if (osd_groundspeed > 1.0f) osd_total_trip_dist += (osd_groundspeed * 0.1f); // jmmods > for calculation of trip , Groundspeed is better than airspeed
//trigger video switch
if(eeprom_buffer.params.PWM_Video_en)
{
triggerVideo();
}
//trigger panel switch
if(eeprom_buffer.params.PWM_Panel_en)
{
triggerPanel();
}
//if no mavlink update for 2 secs, show waring and request mavlink rate again
if(GetSystimeMS() > (lastMAVBeat + 2200))
{
heatbeat_start_time = 0;
waitingMAVBeats = 1;
}
if(enable_mav_request == 1)
{
for(int n = 0; n < 3; n++){
request_mavlink_rates();//Three times to certify it will be readed
vTaskDelay(50/portTICK_RATE_MS);
}
enable_mav_request = 0;
waitingMAVBeats = 0;
lastMAVBeat = GetSystimeMS();
}
if(enable_mission_count_request == 1)
{
request_mission_count();
enable_mission_count_request = 0;
}
if(enable_mission_item_request == 1)
{
request_mission_item(current_mission_item_req_index);
}
}
}
void update_mission_counts() {
bool should_request_mission_count = false;
bool should_request_mission_item = false;
uint16_t TEMP_current_mission_item_request_index = -1;
// These updates happen as early as Mavlink since the Mavlink task
// looks at these values to determine when to query / re-query for Mission waypoints.
// Lock access to Mavlink OSDState via mutex
if (xSemaphoreTake(osd_state_mavlink_mutex, portMAX_DELAY) == pdTRUE ) {
if (mavlink_osd_state.enable_mission_count_request == 1)
{
should_request_mission_count = true;
mavlink_osd_state.enable_mission_count_request = 0;
}
if (mavlink_osd_state.enable_mission_item_request == 1)
{
should_request_mission_item = true;
TEMP_current_mission_item_request_index = mavlink_osd_state.current_mission_item_req_index;
}
// Release the Mavlink mutex ASAP
xSemaphoreGive(osd_state_mavlink_mutex);
// These are Mavlink calls, and might be slow, so we take pains to do them
// outside the possession of the mutex to prevent any potential pend.
if (should_request_mission_count == true) {
request_mission_count();
}
if (should_request_mission_item == true){
request_mission_item(TEMP_current_mission_item_request_index);
}
}
}
