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 vTask10HZ(void *pvParameters) {
for (;; )
{
vTaskDelay(100 / portTICK_RATE_MS);
update_current_consumed_estimate();
update_total_trip_distance();
//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 warning and request mavlink rate again
if (GetSystimeMS() > (get_lastMAVBeat() + 2200))
{
set_heartbeat_start_time(0);
set_waitingMAVBeats(1);
}
if (get_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);
}
set_enable_mav_request(0);
set_waitingMAVBeats(0);
set_lastMAVBeat(GetSystimeMS());
}
update_mission_counts();
}
}