| 121,16 → 121,41 |
|---|
| } else { |
| debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
| } |
| J4HIGH; |
| // This is probably the correct order: |
| // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level) |
| // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc. |
| // Flight control uses results from both. |
| calculateFlightAttitude(); |
| controlMixer_periodicTask(); |
| commands_handleCommands(); |
| flight_control(); |
| J4LOW; |
| #ifdef DO_PROFILE |
| startProfileTimer(ATTITUDE); |
| #endif |
| calculateFlightAttitude(); |
| #ifdef DO_PROFILE |
| stopProfileTimer(ATTITUDE); |
| #endif |
| |
| #ifdef DO_PROFILE |
| startProfileTimer(CONTROLMIXER); |
| #endif |
| controlMixer_periodicTask(); |
| #ifdef DO_PROFILE |
| stopProfileTimer(CONTROLMIXER); |
| #endif |
| |
| #ifdef DO_PROFILE |
| startProfileTimer(COMMANDS); |
| #endif |
| commands_handleCommands(); |
| #ifdef DO_PROFILE |
| stopProfileTimer(COMMANDS); |
| #endif |
| |
| #ifdef DO_PROFILE |
| startProfileTimer(FLIGHT); |
| #endif |
| flight_control(); |
| #ifdef DO_PROFILE |
| stopProfileTimer(FLIGHT); |
| #endif |
| |
| // Allow Serial Data Transmit if motors must not updated or motors are not running |
| if (!runFlightControl || !isFlying) { |
| 160,7 → 185,15 |
|---|
| debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
| } else { |
| debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| } |
| } |
| |
| #ifdef DO_PROFILE |
| static uint8_t profileTimer; |
| if (profileTimer++ == 0) { |
| debugProfileTimers(24); |
| } |
| #endif |
| |
| } |
| return (1); |
| } |