// Function for loop trigger
bool shouldRunLoop(uint32_t loopTime) {
bool loopTrigger = false;
if (masterConfig.gyroSync) {
if (gyroSyncCheckUpdate() || (int32_t)(currentTime - (loopTime + GYRO_WATCHDOG_DELAY)) >= 0) {
loopTrigger = true;
}
} else if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0){
loopTrigger = true;
}
return loopTrigger;
}
// Function for loop trigger
void taskMainPidLoopChecker(void) {
// getTaskDeltaTime() returns delta time freezed at the moment of entering the scheduler. currentTime is freezed at the very same point.
// To make busy-waiting timeout work we need to account for time spent within busy-waiting loop
uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
if (masterConfig.gyroSync) {
while (1) {
if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - currentTime)) >= (gyro.targetLooptime + GYRO_WATCHDOG_DELAY))) {
break;
}
}
}
taskMainPidLoop();
}