#endif
#ifdef PITOT
[TASK_PITOT] = {
.taskName = "PITOT",
.taskFunc = taskUpdatePitot,
.desiredPeriod = TASK_PERIOD_HZ(10),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#endif
#ifdef SONAR
[TASK_SONAR] = {
.taskName = "SONAR",
.taskFunc = taskUpdateSonar,
.desiredPeriod = TASK_PERIOD_MS(70), // every 70 ms, approximately 14 Hz
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#endif
#ifdef USE_DASHBOARD
[TASK_DASHBOARD] = {
.taskName = "DASHBOARD",
.taskFunc = taskDashboardUpdate,
.desiredPeriod = TASK_PERIOD_HZ(10),
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef TELEMETRY
[TASK_TELEMETRY] = {
// No need for a linked list for the queue, since items are only inserted at startup
#ifdef UNIT_TEST
#define TASK_QUEUE_ARRAY_SIZE (TASK_COUNT + 2) // 1 extra space so test code can check for buffer overruns
#else
#define TASK_QUEUE_ARRAY_SIZE (TASK_COUNT + 1) // extra item for NULL pointer at end of queue
#endif
const uint32_t taskQueueArraySize = TASK_QUEUE_ARRAY_SIZE;
const uint32_t taskCount = TASK_COUNT;
cfTask_t* taskQueueArray[TASK_QUEUE_ARRAY_SIZE];
cfTask_t cfTasks[] = {
[TASK_SYSTEM] = {
.taskName = "SYSTEM",
.taskFunc = taskSystem,
.desiredPeriod = TASK_PERIOD_MS(100),
.staticPriority = TASK_PRIORITY_HIGH,
},
[TASK_GYRO] = {
.taskName = "GYRO",
.checkFunc = taskGyroCheck,
.taskFunc = taskGyro,
.desiredPeriod = TASK_PERIOD_HZ(8000),
.staticPriority = TASK_PRIORITY_REALTIME,
},
[TASK_PID] = {
.taskName = "PID",
.checkFunc = taskPidCheck,
.taskFunc = taskPid,
.desiredPeriod = TASK_PERIOD_HZ(8000),
#endif
#ifdef BARO
[TASK_BARO] = {
.taskName = "BARO",
.taskFunc = taskUpdateBaro,
.desiredPeriod = TASK_PERIOD_HZ(20),
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef SONAR
[TASK_SONAR] = {
.taskName = "SONAR",
.taskFunc = sonarUpdate,
.desiredPeriod = TASK_PERIOD_MS(70), // 70ms required so that SONAR pulses do not interfere with each other
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#if defined(BARO) || defined(SONAR)
[TASK_ALTITUDE] = {
.taskName = "ALTITUDE",
.taskFunc = taskCalculateAltitude,
.desiredPeriod = TASK_PERIOD_HZ(40),
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#endif
#ifdef TRANSPONDER
