static FAST_CODE_NOINLINE void subTaskRcCommand(timeUs_t currentTimeUs) { UNUSED(currentTimeUs); // If we're armed, at minimum throttle, and we do arming via the // sticks, do not process yaw input from the rx. We do this so the // motors do not spin up while we are trying to arm or disarm. // Allow yaw control for tricopters if the user wants the servo to move even when unarmed. if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck #ifndef USE_QUAD_MIXER_ONLY #ifdef USE_SERVOS && !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo) #endif && mixerConfig()->mixerMode != MIXER_AIRPLANE && mixerConfig()->mixerMode != MIXER_FLYING_WING #endif ) { resetYawAxis(); } processRcCommand(); }
static void subTaskMainSubprocesses(timeUs_t currentTimeUs) { uint32_t startTime = 0; if (debugMode == DEBUG_PIDLOOP) {startTime = micros();} // Read out gyro temperature if used for telemmetry if (feature(FEATURE_TELEMETRY)) { gyroReadTemperature(); } #ifdef MAG if (sensors(SENSOR_MAG)) { updateMagHold(); } #endif #if defined(BARO) || defined(SONAR) // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState updateRcCommands(); if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) { if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) { applyAltHold(); } } #endif // If we're armed, at minimum throttle, and we do arming via the // sticks, do not process yaw input from the rx. We do this so the // motors do not spin up while we are trying to arm or disarm. // Allow yaw control for tricopters if the user wants the servo to move even when unarmed. if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck #ifndef USE_QUAD_MIXER_ONLY #ifdef USE_SERVOS && !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo) #endif && mixerConfig()->mixerMode != MIXER_AIRPLANE && mixerConfig()->mixerMode != MIXER_FLYING_WING #endif ) { resetYawAxis(); } if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) { rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value); } processRcCommand(); #ifdef GPS if (sensors(SENSOR_GPS)) { if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) { updateGpsStateForHomeAndHoldMode(); } } #endif #ifdef USE_SDCARD afatfs_poll(); #endif #ifdef BLACKBOX if (!cliMode && blackboxConfig()->device) { handleBlackbox(currentTimeUs); } #else UNUSED(currentTimeUs); #endif #ifdef TRANSPONDER transponderUpdate(currentTimeUs); #endif DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime); }