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),
.staticPriority = TASK_PRIORITY_REALTIME,
},
[TASK_ACCEL] = {
.taskName = "ACCEL",
.taskFunc = taskUpdateAccelerometer,
.desiredPeriod = TASK_PERIOD_MS(1),
.staticPriority = TASK_PRIORITY_MEDIUM,
void fcTasksInit(void)
{
schedulerInit();
#ifdef ASYNC_GYRO_PROCESSING
rescheduleTask(TASK_PID, getPidUpdateRate());
setTaskEnabled(TASK_PID, true);
if (getAsyncMode() != ASYNC_MODE_NONE) {
rescheduleTask(TASK_GYRO, getGyroUpdateRate());
setTaskEnabled(TASK_GYRO, true);
}
if (getAsyncMode() == ASYNC_MODE_ALL && sensors(SENSOR_ACC)) {
rescheduleTask(TASK_ACC, getAccUpdateRate());
setTaskEnabled(TASK_ACC, true);
rescheduleTask(TASK_ATTI, getAttitudeUpdateRate());
setTaskEnabled(TASK_ATTI, true);
}
#else
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
#endif
setTaskEnabled(TASK_SERIAL, true);
#ifdef BEEPER
setTaskEnabled(TASK_BEEPER, true);
#endif
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
setTaskEnabled(TASK_RX, true);
#ifdef GPS
setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
#endif
#ifdef MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#if defined(MPU6500_SPI_INSTANCE) && defined(USE_MAG_AK8963)
// fixme temporary solution for AK6983 via slave I2C on MPU9250
rescheduleTask(TASK_COMPASS, TASK_PERIOD_HZ(40));
#endif
#endif
#ifdef BARO
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
#endif
#ifdef PITOT
setTaskEnabled(TASK_PITOT, sensors(SENSOR_PITOT));
#endif
#ifdef SONAR
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
#endif
#ifdef USE_DASHBOARD
setTaskEnabled(TASK_DASHBOARD, feature(FEATURE_DASHBOARD));
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
#endif
#ifdef STACK_CHECK
setTaskEnabled(TASK_STACK_CHECK, true);
#endif
#ifdef USE_PMW_SERVO_DRIVER
setTaskEnabled(TASK_PWMDRIVER, feature(FEATURE_PWM_SERVO_DRIVER));
#endif
#ifdef OSD
setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
#endif
#ifdef CMS
#ifdef USE_MSP_DISPLAYPORT
setTaskEnabled(TASK_CMS, true);
#else
setTaskEnabled(TASK_CMS, feature(FEATURE_OSD) || feature(FEATURE_DASHBOARD));
#endif
#endif
}
setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
#endif
#ifdef CMS
#ifdef USE_MSP_DISPLAYPORT
setTaskEnabled(TASK_CMS, true);
#else
setTaskEnabled(TASK_CMS, feature(FEATURE_OSD) || feature(FEATURE_DASHBOARD));
#endif
#endif
}
cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SYSTEM] = {
.taskName = "SYSTEM",
.taskFunc = taskSystem,
.desiredPeriod = TASK_PERIOD_HZ(10), // run every 100 ms, 10Hz
.staticPriority = TASK_PRIORITY_HIGH,
},
#ifdef ASYNC_GYRO_PROCESSING
[TASK_PID] = {
.taskName = "PID",
.taskFunc = taskMainPidLoop,
.desiredPeriod = TASK_PERIOD_HZ(500), // Run at 500Hz
.staticPriority = TASK_PRIORITY_HIGH,
},
[TASK_GYRO] = {
.taskName = "GYRO",
.taskFunc = taskGyro,
.desiredPeriod = TASK_PERIOD_HZ(1000), //Run at 1000Hz
/*
* processRx called from taskUpdateRxMain
*/
bool processRx(timeUs_t currentTimeUs)
{
static bool armedBeeperOn = false;
if (!calculateRxChannelsAndUpdateFailsafe(currentTimeUs)) {
return false;
}
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
disarm();
}
updateRSSI(currentTimeUs);
if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
const throttleStatus_e throttleStatus = calculateThrottleStatus();
const uint8_t throttlePercent = calculateThrottlePercent();
if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
if (throttlePercent >= rxConfig()->airModeActivateThreshold) {
airmodeIsActivated = true; // Prevent Iterm from being reset
}
} else {
airmodeIsActivated = false;
}
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
pidResetITerm();
if (currentPidProfile->pidAtMinThrottle)
pidStabilisationState(PID_STABILISATION_ON);
else
pidStabilisationState(PID_STABILISATION_OFF);
} else {
pidStabilisationState(PID_STABILISATION_ON);
}
#ifdef USE_RUNAWAY_TAKEOFF
// If runaway_takeoff_prevention is enabled, accumulate the amount of time that throttle
// is above runaway_takeoff_deactivate_throttle with the any of the R/P/Y sticks deflected
// to at least runaway_takeoff_stick_percent percent while the pidSum on all axis is kept low.
// Once the amount of accumulated time exceeds runaway_takeoff_deactivate_delay then disable
// prevention for the remainder of the battery.
if (ARMING_FLAG(ARMED)
&& pidConfig()->runaway_takeoff_prevention
&& !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashMode
&& !runawayTakeoffTemporarilyDisabled
&& !STATE(FIXED_WING)) {
// Determine if we're in "flight"
// - motors running
// - throttle over runaway_takeoff_deactivate_throttle_percent
// - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
// - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
bool inStableFlight = false;
if (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))
&& (fabsf(pidData[FD_PITCH].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
&& (fabsf(pidData[FD_ROLL].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
&& (fabsf(pidData[FD_YAW].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)) {
inStableFlight = true;
if (runawayTakeoffDeactivateUs == 0) {
runawayTakeoffDeactivateUs = currentTimeUs;
}
}
}
// If we're in flight, then accumulate the time and deactivate once it exceeds runaway_takeoff_deactivate_delay milliseconds
if (inStableFlight) {
if (runawayTakeoffDeactivateUs == 0) {
runawayTakeoffDeactivateUs = currentTimeUs;
}
uint16_t deactivateDelay = pidConfig()->runaway_takeoff_deactivate_delay;
// at high throttle levels reduce deactivation delay by 50%
if (throttlePercent >= RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT) {
deactivateDelay = deactivateDelay / 2;
}
if ((cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) > deactivateDelay * 1000) {
runawayTakeoffCheckDisabled = true;
}
} else {
if (runawayTakeoffDeactivateUs != 0) {
runawayTakeoffAccumulatedUs += cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs);
}
runawayTakeoffDeactivateUs = 0;
}
if (runawayTakeoffDeactivateUs == 0) {
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, runawayTakeoffAccumulatedUs / 1000);
} else {
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_TRUE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, (cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) / 1000);
}
} else {
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, DEBUG_RUNAWAY_TAKEOFF_FALSE);
}
#endif
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
&& !feature(FEATURE_3D)
&& !isAirmodeActive()
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (armingConfig()->auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
disarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (armingConfig()->auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions();
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateActivatedModes();
#ifdef USE_DSHOT
/* Enable beep warning when the crash flip mode is active */
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
beeper(BEEPER_CRASH_FLIP_MODE);
}
#endif
if (!cliMode) {
updateAdjustmentStates();
processRcAdjustments(currentControlRateProfile);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || failsafeIsActive()) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
#ifdef USE_GPS_RESCUE
if (IS_RC_MODE_ACTIVE(BOXGPSRESCUE) || (failsafeIsActive() && failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE)) {
if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
}
#endif
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
// increase frequency of attitude task to reduce drift when in angle or horizon mode
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(500));
} else {
LED1_OFF;
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(100));
}
if (!IS_RC_MODE_ACTIVE(BOXPREARM) && ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {
DISABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
}
#if defined(USE_ACC) || defined(USE_MAG)
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
#if defined(USE_GPS) || defined(USE_MAG)
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
#endif
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
if (imuQuaternionHeadfreeOffsetSet()){
beeper(BEEPER_RX_SET);
}
}
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef USE_TELEMETRY
static bool sharedPortTelemetryEnabled = false;
if (feature(FEATURE_TELEMETRY)) {
bool enableSharedPortTelemetry = (!isModeActivationConditionPresent(BOXTELEMETRY) && ARMING_FLAG(ARMED)) || (isModeActivationConditionPresent(BOXTELEMETRY) && IS_RC_MODE_ACTIVE(BOXTELEMETRY));
if (enableSharedPortTelemetry && !sharedPortTelemetryEnabled) {
mspSerialReleaseSharedTelemetryPorts();
telemetryCheckState();
sharedPortTelemetryEnabled = true;
} else if (!enableSharedPortTelemetry && sharedPortTelemetryEnabled) {
// the telemetry state must be checked immediately so that shared serial ports are released.
telemetryCheckState();
mspSerialAllocatePorts();
sharedPortTelemetryEnabled = false;
}
}
#endif
#ifdef USE_VTX_CONTROL
vtxUpdateActivatedChannel();
if (canUpdateVTX()) {
handleVTXControlButton();
}
#endif
#ifdef USE_ACRO_TRAINER
pidSetAcroTrainerState(IS_RC_MODE_ACTIVE(BOXACROTRAINER) && sensors(SENSOR_ACC));
#endif // USE_ACRO_TRAINER
#ifdef USE_RC_SMOOTHING_FILTER
if (ARMING_FLAG(ARMED) && !rcSmoothingInitializationComplete()) {
beeper(BEEPER_RC_SMOOTHING_INIT_FAIL);
}
#endif
pidSetAntiGravityState(IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || feature(FEATURE_ANTI_GRAVITY));
return true;
}
void fcTasksInit(void)
{
schedulerInit();
if (sensors(SENSOR_GYRO)) {
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
}
if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
rescheduleTask(TASK_ACCEL, acc.accSamplingInterval);
}
setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
setTaskEnabled(TASK_SERIAL, true);
rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
bool useBatteryCurrent = batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
setTaskEnabled(TASK_BATTERY_CURRENT, useBatteryCurrent);
bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || feature(FEATURE_OSD);
setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
setTaskEnabled(TASK_RX, true);
setTaskEnabled(TASK_DISPATCH, dispatchIsEnabled());
#ifdef BEEPER
setTaskEnabled(TASK_BEEPER, true);
#endif
#ifdef GPS
setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
#endif
#ifdef MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#if defined(USE_SPI) && defined(USE_MAG_AK8963)
// fixme temporary solution for AK6983 via slave I2C on MPU9250
rescheduleTask(TASK_COMPASS, TASK_PERIOD_HZ(40));
#endif
#endif
#ifdef BARO
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
#endif
#ifdef SONAR
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
#endif
#if defined(BARO) || defined(SONAR)
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
#endif
#ifdef USE_DASHBOARD
setTaskEnabled(TASK_DASHBOARD, feature(FEATURE_DASHBOARD));
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
if (feature(FEATURE_TELEMETRY)) {
if (rxConfig()->serialrx_provider == SERIALRX_JETIEXBUS) {
// Reschedule telemetry to 500hz for Jeti Exbus
rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
} else if (rxConfig()->serialrx_provider == SERIALRX_CRSF) {
// Reschedule telemetry to 500hz, 2ms for CRSF
rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
}
}
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
#endif
#ifdef TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
#endif
#ifdef OSD
setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
#endif
#ifdef USE_OSD_SLAVE
setTaskEnabled(TASK_OSD_SLAVE, true);
#endif
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
#ifdef USE_ESC_SENSOR
setTaskEnabled(TASK_ESC_SENSOR, feature(FEATURE_ESC_SENSOR));
#endif
#ifdef CMS
#ifdef USE_MSP_DISPLAYPORT
setTaskEnabled(TASK_CMS, true);
#else
setTaskEnabled(TASK_CMS, feature(FEATURE_OSD) || feature(FEATURE_DASHBOARD));
#endif
#endif
#ifdef STACK_CHECK
setTaskEnabled(TASK_STACK_CHECK, true);
#endif
#ifdef VTX_CONTROL
#if defined(VTX_RTC6705) || defined(VTX_SMARTAUDIO) || defined(VTX_TRAMP)
setTaskEnabled(TASK_VTXCTRL, true);
#endif
#endif
}
#ifdef STACK_CHECK
setTaskEnabled(TASK_STACK_CHECK, true);
#endif
#ifdef VTX_CONTROL
#if defined(VTX_RTC6705) || defined(VTX_SMARTAUDIO) || defined(VTX_TRAMP)
setTaskEnabled(TASK_VTXCTRL, true);
#endif
#endif
}
#endif
cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SYSTEM] = {
.taskName = "SYSTEM",
.taskFunc = taskSystem,
.desiredPeriod = TASK_PERIOD_HZ(10), // 10Hz, every 100 ms
.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
},
#ifndef USE_OSD_SLAVE
[TASK_GYROPID] = {
.taskName = "PID",
.subTaskName = "GYRO",
.taskFunc = taskMainPidLoop,
.desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
.staticPriority = TASK_PRIORITY_REALTIME,
},
[TASK_ACCEL] = {
.taskName = "ACCEL",
.taskFunc = taskUpdateAccelerometer,
