src/main/fc/tasks.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdlib.h>
  23 #include <stdint.h>
  24
  25 #include "platform.h"
  26
  27 #include "build/debug.h"
  28
  29 #include "cli/cli.h"
  30
  31 #include "cms/cms.h"
  32
  33 #include "common/color.h"
  34 #include "common/utils.h"
  35
  36 #include "config/feature.h"
  37
  38 #include "drivers/accgyro/accgyro.h"
  39 #include "drivers/camera_control.h"
  40 #include "drivers/compass/compass.h"
  41 #include "drivers/sensor.h"
  42 #include "drivers/serial.h"
  43 #include "drivers/serial_usb_vcp.h"
  44 #include "drivers/stack_check.h"
  45 #include "drivers/transponder_ir.h"
  46 #include "drivers/usb_io.h"
  47 #include "drivers/vtx_common.h"
  48
  49 #include "config/config.h"
  50 #include "fc/core.h"
  51 #include "fc/rc.h"
  52 #include "fc/dispatch.h"
  53 #include "fc/rc_controls.h"
  54 #include "fc/runtime_config.h"
  55
  56 #include "flight/position.h"
  57 #include "flight/imu.h"
  58 #include "flight/mixer.h"
  59 #include "flight/pid.h"
  60
  61 #include "io/asyncfatfs/asyncfatfs.h"
  62 #include "io/beeper.h"
  63 #include "io/dashboard.h"
  64 #include "io/gps.h"
  65 #include "io/ledstrip.h"
  66 #include "io/piniobox.h"
  67 #include "io/serial.h"
  68 #include "io/transponder_ir.h"
  69 #include "io/vtx_tramp.h" // Will be gone
  70 #include "io/rcdevice_cam.h"
  71 #include "io/usb_cdc_hid.h"
  72 #include "io/vtx.h"
  73
  74 #include "msp/msp.h"
  75 #include "msp/msp_serial.h"
  76
  77 #include "osd/osd.h"
  78
  79 #include "pg/rx.h"
  80 #include "pg/motor.h"
  81
  82 #include "rx/rx.h"
  83
  84 #include "scheduler/scheduler.h"
  85
  86 #include "sensors/acceleration.h"
  87 #include "sensors/adcinternal.h"
  88 #include "sensors/barometer.h"
  89 #include "sensors/battery.h"
  90 #include "sensors/compass.h"
  91 #include "sensors/esc_sensor.h"
  92 #include "sensors/gyro.h"
  93 #include "sensors/sensors.h"
  94 #include "sensors/rangefinder.h"
  95
  96 #include "telemetry/telemetry.h"
  97 #include "telemetry/crsf.h"
  98
  99 #ifdef USE_BST
 100 #include "i2c_bst.h"
 101 #endif
 102
 103 #ifdef USE_USB_CDC_HID
 104 //TODO: Make it platform independent in the future
 105 #ifdef STM32F4
 106 #include "vcpf4/usbd_cdc_vcp.h"
 107 #include "usbd_hid_core.h"
 108 #elif defined(STM32F7)
 109 #include "usbd_cdc_interface.h"
 110 #include "usbd_hid.h"
 111 #endif
 112 #endif
 113
 114 #include "tasks.h"
 115
 116 // taskUpdateRxMain() has occasional peaks in execution time so normal moving average duration estimation doesn't work
 117 // Decay the estimated max task duration by 1/(1 << RX_TASK_DECAY_SHIFT) on every invocation
 118 #define RX_TASK_DECAY_SHIFT 6
 119 // Add a margin to the task duration estimation
 120 #define RX_TASK_MARGIN 1
 121
 122 static void taskMain(timeUs_t currentTimeUs)
 123 {
 124     UNUSED(currentTimeUs);
 125
 126 #ifdef USE_SDCARD
 127     afatfs_poll();
 128 #endif
 129 }
 130
 131 static void taskHandleSerial(timeUs_t currentTimeUs)
 132 {
 133     UNUSED(currentTimeUs);
 134
 135 #if defined(USE_VCP)
 136     DEBUG_SET(DEBUG_USB, 0, usbCableIsInserted());
 137     DEBUG_SET(DEBUG_USB, 1, usbVcpIsConnected());
 138 #endif
 139
 140 #ifdef USE_CLI
 141     // in cli mode, all serial stuff goes to here. enter cli mode by sending #
 142     if (cliMode) {
 143         cliProcess();
 144         return;
 145     }
 146 #endif
 147     bool evaluateMspData = ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA;
 148     mspSerialProcess(evaluateMspData, mspFcProcessCommand, mspFcProcessReply);
 149 }
 150
 151 static void taskBatteryAlerts(timeUs_t currentTimeUs)
 152 {
 153     if (!ARMING_FLAG(ARMED)) {
 154         // the battery *might* fall out in flight, but if that happens the FC will likely be off too unless the user has battery backup.
 155         batteryUpdatePresence();
 156     }
 157     batteryUpdateStates(currentTimeUs);
 158     batteryUpdateAlarms();
 159 }
 160
 161 #ifdef USE_ACC
 162 static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
 163 {
 164     accUpdate(currentTimeUs, &accelerometerConfigMutable()->accelerometerTrims);
 165 }
 166 #endif
 167
 168 typedef enum {
 169     RX_STATE_CHECK,
 170     RX_STATE_PROCESS,
 171     RX_STATE_MODES,
 172     RX_STATE_UPDATE,
 173     RX_STATE_COUNT
 174 } rxState_e;
 175
 176 static rxState_e rxState = RX_STATE_CHECK;
 177
 178 bool taskUpdateRxMainInProgress()
 179 {
 180     return (rxState != RX_STATE_CHECK);
 181 }
 182
 183 static void taskUpdateRxMain(timeUs_t currentTimeUs)
 184 {
 185     static timeDelta_t rxStateDurationFracUs[RX_STATE_COUNT];
 186     timeDelta_t executeTimeUs;
 187     rxState_e oldRxState = rxState;
 188     timeDelta_t anticipatedExecutionTime;
 189
 190     // Where we are using a state machine call schedulerIgnoreTaskExecRate() for all states bar one
 191     if (rxState != RX_STATE_UPDATE) {
 192         schedulerIgnoreTaskExecRate();
 193     }
 194
 195     switch (rxState) {
 196     default:
 197     case RX_STATE_CHECK:
 198         rxState = RX_STATE_PROCESS;
 199         break;
 200
 201     case RX_STATE_PROCESS:
 202         if (!processRx(currentTimeUs)) {
 203             rxState = RX_STATE_CHECK;
 204             break;
 205         }
 206         rxState = RX_STATE_MODES;
 207         break;
 208
 209     case RX_STATE_MODES:
 210         processRxModes(currentTimeUs);
 211         rxState = RX_STATE_UPDATE;
 212         break;
 213
 214     case RX_STATE_UPDATE:
 215         // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
 216         updateRcCommands();
 217         updateArmingStatus();
 218
 219 #ifdef USE_USB_CDC_HID
 220         if (!ARMING_FLAG(ARMED)) {
 221             sendRcDataToHid();
 222         }
 223 #endif
 224         rxState = RX_STATE_CHECK;
 225         break;
 226     }
 227
 228     if (!schedulerGetIgnoreTaskExecTime()) {
 229         executeTimeUs = micros() - currentTimeUs + RX_TASK_MARGIN;
 230
 231         // If the scheduler has reduced the anticipatedExecutionTime due to task aging, pick that up
 232         anticipatedExecutionTime = schedulerGetNextStateTime();
 233         if (anticipatedExecutionTime != (rxStateDurationFracUs[oldRxState] >> RX_TASK_DECAY_SHIFT)) {
 234             rxStateDurationFracUs[oldRxState] = anticipatedExecutionTime << RX_TASK_DECAY_SHIFT;
 235         }
 236
 237         if (executeTimeUs > (rxStateDurationFracUs[oldRxState] >> RX_TASK_DECAY_SHIFT)) {
 238             rxStateDurationFracUs[oldRxState] = executeTimeUs << RX_TASK_DECAY_SHIFT;
 239         } else {
 240             // Slowly decay the max time
 241             rxStateDurationFracUs[oldRxState]--;
 242         }
 243     }
 244
 245     if (debugMode == DEBUG_RX_STATE_TIME) {
 246         debug[oldRxState] = rxStateDurationFracUs[oldRxState] >> RX_TASK_DECAY_SHIFT;
 247     }
 248
 249     schedulerSetNextStateTime(rxStateDurationFracUs[rxState] >> RX_TASK_DECAY_SHIFT);
 250 }
 251
 252
 253 #ifdef USE_BARO
 254 static void taskUpdateBaro(timeUs_t currentTimeUs)
 255 {
 256     UNUSED(currentTimeUs);
 257
 258     if (sensors(SENSOR_BARO)) {
 259         const uint32_t newDeadline = baroUpdate(currentTimeUs);
 260         if (newDeadline != 0) {
 261             rescheduleTask(TASK_SELF, newDeadline);
 262         }
 263     }
 264 }
 265 #endif
 266
 267 #if defined(USE_RANGEFINDER)
 268 void taskUpdateRangefinder(timeUs_t currentTimeUs)
 269 {
 270     UNUSED(currentTimeUs);
 271
 272     if (!sensors(SENSOR_RANGEFINDER)) {
 273         return;
 274     }
 275
 276     rangefinderUpdate();
 277
 278     rangefinderProcess(getCosTiltAngle());
 279 }
 280 #endif
 281
 282 #if defined(USE_BARO) || defined(USE_GPS)
 283 static void taskCalculateAltitude(timeUs_t currentTimeUs)
 284 {
 285     calculateEstimatedAltitude(currentTimeUs);
 286 }
 287 #endif // USE_BARO || USE_GPS
 288
 289 #ifdef USE_TELEMETRY
 290 static void taskTelemetry(timeUs_t currentTimeUs)
 291 {
 292     if (!cliMode && featureIsEnabled(FEATURE_TELEMETRY)) {
 293         subTaskTelemetryPollSensors(currentTimeUs);
 294
 295         telemetryProcess(currentTimeUs);
 296     }
 297 }
 298 #endif
 299
 300 #ifdef USE_CAMERA_CONTROL
 301 static void taskCameraControl(uint32_t currentTime)
 302 {
 303     if (ARMING_FLAG(ARMED)) {
 304         return;
 305     }
 306
 307     cameraControlProcess(currentTime);
 308 }
 309 #endif
 310
 311 #define DEFINE_TASK(taskNameParam, subTaskNameParam, checkFuncParam, taskFuncParam, desiredPeriodParam, staticPriorityParam) {  \
 312     .taskName = taskNameParam, \
 313     .subTaskName = subTaskNameParam, \
 314     .checkFunc = checkFuncParam, \
 315     .taskFunc = taskFuncParam, \
 316     .desiredPeriodUs = desiredPeriodParam, \
 317     .staticPriority = staticPriorityParam \
 318 }
 319
 320 // Task info in .bss (unitialised data)
 321 task_t tasks[TASK_COUNT];
 322
 323 // Task ID data in .data (initialised data)
 324 task_attribute_t task_attributes[TASK_COUNT] = {
 325     [TASK_SYSTEM] = DEFINE_TASK("SYSTEM", "LOAD", NULL, taskSystemLoad, TASK_PERIOD_HZ(10), TASK_PRIORITY_MEDIUM_HIGH),
 326     [TASK_MAIN] = DEFINE_TASK("SYSTEM", "UPDATE", NULL, taskMain, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM_HIGH),
 327     [TASK_SERIAL] = DEFINE_TASK("SERIAL", NULL, NULL, taskHandleSerial, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
 328     [TASK_BATTERY_ALERTS] = DEFINE_TASK("BATTERY_ALERTS", NULL, NULL, taskBatteryAlerts, TASK_PERIOD_HZ(5), TASK_PRIORITY_MEDIUM),
 329     [TASK_BATTERY_VOLTAGE] = DEFINE_TASK("BATTERY_VOLTAGE", NULL, NULL, batteryUpdateVoltage, TASK_PERIOD_HZ(SLOW_VOLTAGE_TASK_FREQ_HZ), TASK_PRIORITY_MEDIUM), // Freq may be updated in tasksInit
 330     [TASK_BATTERY_CURRENT] = DEFINE_TASK("BATTERY_CURRENT", NULL, NULL, batteryUpdateCurrentMeter, TASK_PERIOD_HZ(50), TASK_PRIORITY_MEDIUM),
 331
 332 #ifdef USE_TRANSPONDER
 333     [TASK_TRANSPONDER] = DEFINE_TASK("TRANSPONDER", NULL, NULL, transponderUpdate, TASK_PERIOD_HZ(250), TASK_PRIORITY_LOW),
 334 #endif
 335
 336 #ifdef USE_STACK_CHECK
 337     [TASK_STACK_CHECK] = DEFINE_TASK("STACKCHECK", NULL, NULL, taskStackCheck, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOWEST),
 338 #endif
 339
 340     [TASK_GYRO] = DEFINE_TASK("GYRO", NULL, NULL, taskGyroSample, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
 341     [TASK_FILTER] = DEFINE_TASK("FILTER", NULL, NULL, taskFiltering, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
 342     [TASK_PID] = DEFINE_TASK("PID", NULL, NULL, taskMainPidLoop, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
 343 #ifdef USE_ACC
 344     [TASK_ACCEL] = DEFINE_TASK("ACC", NULL, NULL, taskUpdateAccelerometer, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM),
 345     [TASK_ATTITUDE] = DEFINE_TASK("ATTITUDE", NULL, NULL, imuUpdateAttitude, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM),
 346 #endif
 347     [TASK_RX] = DEFINE_TASK("RX", NULL, rxUpdateCheck, taskUpdateRxMain, TASK_PERIOD_HZ(33), TASK_PRIORITY_HIGH), // If event-based scheduling doesn't work, fallback to periodic scheduling
 348     [TASK_DISPATCH] = DEFINE_TASK("DISPATCH", NULL, NULL, dispatchProcess, TASK_PERIOD_HZ(1000), TASK_PRIORITY_HIGH),
 349
 350 #ifdef USE_BEEPER
 351     [TASK_BEEPER] = DEFINE_TASK("BEEPER", NULL, NULL, beeperUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
 352 #endif
 353
 354 #ifdef USE_GPS
 355     [TASK_GPS] = DEFINE_TASK("GPS", NULL, NULL, gpsUpdate, TASK_PERIOD_HZ(TASK_GPS_RATE), TASK_PRIORITY_MEDIUM), // Required to prevent buffer overruns if running at 115200 baud (115 bytes / period < 256 bytes buffer)
 356 #endif
 357
 358 #ifdef USE_MAG
 359     [TASK_COMPASS] = DEFINE_TASK("COMPASS", NULL, NULL, compassUpdate,TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
 360 #endif
 361
 362 #ifdef USE_BARO
 363     [TASK_BARO] = DEFINE_TASK("BARO", NULL, NULL, taskUpdateBaro, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOW),
 364 #endif
 365
 366 #if defined(USE_BARO) || defined(USE_GPS)
 367     [TASK_ALTITUDE] = DEFINE_TASK("ALTITUDE", NULL, NULL, taskCalculateAltitude, TASK_PERIOD_HZ(40), TASK_PRIORITY_LOW),
 368 #endif
 369
 370 #ifdef USE_DASHBOARD
 371     [TASK_DASHBOARD] = DEFINE_TASK("DASHBOARD", NULL, NULL, dashboardUpdate, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
 372 #endif
 373
 374 #ifdef USE_OSD
 375     [TASK_OSD] = DEFINE_TASK("OSD", NULL, osdUpdateCheck, osdUpdate, TASK_PERIOD_HZ(OSD_FRAMERATE_DEFAULT_HZ), TASK_PRIORITY_LOW),
 376 #endif
 377
 378 #ifdef USE_TELEMETRY
 379     [TASK_TELEMETRY] = DEFINE_TASK("TELEMETRY", NULL, NULL, taskTelemetry, TASK_PERIOD_HZ(250), TASK_PRIORITY_LOW),
 380 #endif
 381
 382 #ifdef USE_LED_STRIP
 383     [TASK_LEDSTRIP] = DEFINE_TASK("LEDSTRIP", NULL, NULL, ledStripUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
 384 #endif
 385
 386 #ifdef USE_BST
 387     [TASK_BST_MASTER_PROCESS] = DEFINE_TASK("BST_MASTER_PROCESS", NULL, NULL, taskBstMasterProcess, TASK_PERIOD_HZ(50), TASK_PRIORITY_LOWEST),
 388 #endif
 389
 390 #ifdef USE_ESC_SENSOR
 391     [TASK_ESC_SENSOR] = DEFINE_TASK("ESC_SENSOR", NULL, NULL, escSensorProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
 392 #endif
 393
 394 #ifdef USE_CMS
 395     [TASK_CMS] = DEFINE_TASK("CMS", NULL, NULL, cmsHandler, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOW),
 396 #endif
 397
 398 #ifdef USE_VTX_CONTROL
 399     [TASK_VTXCTRL] = DEFINE_TASK("VTXCTRL", NULL, NULL, vtxUpdate, TASK_PERIOD_HZ(5), TASK_PRIORITY_LOWEST),
 400 #endif
 401
 402 #ifdef USE_RCDEVICE
 403     [TASK_RCDEVICE] = DEFINE_TASK("RCDEVICE", NULL, NULL, rcdeviceUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_MEDIUM),
 404 #endif
 405
 406 #ifdef USE_CAMERA_CONTROL
 407     [TASK_CAMCTRL] = DEFINE_TASK("CAMCTRL", NULL, NULL, taskCameraControl, TASK_PERIOD_HZ(5), TASK_PRIORITY_LOW),
 408 #endif
 409
 410 #ifdef USE_ADC_INTERNAL
 411     [TASK_ADC_INTERNAL] = DEFINE_TASK("ADCINTERNAL", NULL, NULL, adcInternalProcess, TASK_PERIOD_HZ(1), TASK_PRIORITY_LOWEST),
 412 #endif
 413
 414 #ifdef USE_PINIOBOX
 415     [TASK_PINIOBOX] = DEFINE_TASK("PINIOBOX", NULL, NULL, pinioBoxUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOWEST),
 416 #endif
 417
 418 #ifdef USE_RANGEFINDER
 419     [TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, taskUpdateRangefinder, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOWEST),
 420 #endif
 421
 422 #ifdef USE_CRSF_V3
 423     [TASK_SPEED_NEGOTIATION] = DEFINE_TASK("SPEED_NEGOTIATION", NULL, NULL, speedNegotiationProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOWEST),
 424 #endif
 425 };
 426
 427 task_t *getTask(unsigned taskId)
 428 {
 429     return &tasks[taskId];
 430 }
 431
 432 void tasksInit(void)
 433 {
 434     for (int i = 0; i < TASK_COUNT; i++) {
 435         tasks[i].attribute = &task_attributes[i];
 436     }
 437
 438     schedulerInit();
 439
 440     setTaskEnabled(TASK_MAIN, true);
 441
 442     setTaskEnabled(TASK_SERIAL, true);
 443     rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
 444
 445     const bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
 446     setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
 447
 448 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
 449     // If vbat motor output compensation is used, use fast vbat samplingTime
 450     if (isSagCompensationConfigured()) {
 451         rescheduleTask(TASK_BATTERY_VOLTAGE, TASK_PERIOD_HZ(FAST_VOLTAGE_TASK_FREQ_HZ));
 452     }
 453 #endif
 454
 455     const bool useBatteryCurrent = batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
 456     setTaskEnabled(TASK_BATTERY_CURRENT, useBatteryCurrent);
 457     const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || featureIsEnabled(FEATURE_OSD);
 458     setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
 459
 460 #ifdef USE_STACK_CHECK
 461     setTaskEnabled(TASK_STACK_CHECK, true);
 462 #endif
 463
 464     if (sensors(SENSOR_GYRO)) {
 465         rescheduleTask(TASK_GYRO, gyro.sampleLooptime);
 466         rescheduleTask(TASK_FILTER, gyro.targetLooptime);
 467         rescheduleTask(TASK_PID, gyro.targetLooptime);
 468         setTaskEnabled(TASK_GYRO, true);
 469         setTaskEnabled(TASK_FILTER, true);
 470         setTaskEnabled(TASK_PID, true);
 471         schedulerEnableGyro();
 472     }
 473
 474 #if defined(USE_ACC)
 475     if (sensors(SENSOR_ACC) && acc.sampleRateHz) {
 476         setTaskEnabled(TASK_ACCEL, true);
 477         rescheduleTask(TASK_ACCEL, TASK_PERIOD_HZ(acc.sampleRateHz));
 478         setTaskEnabled(TASK_ATTITUDE, true);
 479     }
 480 #endif
 481
 482 #ifdef USE_RANGEFINDER
 483     if (sensors(SENSOR_RANGEFINDER)) {
 484         setTaskEnabled(TASK_RANGEFINDER, featureIsEnabled(FEATURE_RANGEFINDER));
 485     }
 486 #endif
 487
 488     setTaskEnabled(TASK_RX, true);
 489
 490     setTaskEnabled(TASK_DISPATCH, dispatchIsEnabled());
 491
 492 #ifdef USE_BEEPER
 493     setTaskEnabled(TASK_BEEPER, true);
 494 #endif
 495
 496 #ifdef USE_GPS
 497     setTaskEnabled(TASK_GPS, featureIsEnabled(FEATURE_GPS));
 498 #endif
 499
 500 #ifdef USE_MAG
 501     setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
 502 #endif
 503
 504 #ifdef USE_BARO
 505     setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
 506 #endif
 507
 508 #if defined(USE_BARO) || defined(USE_GPS)
 509     setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || featureIsEnabled(FEATURE_GPS));
 510 #endif
 511
 512 #ifdef USE_DASHBOARD
 513     setTaskEnabled(TASK_DASHBOARD, featureIsEnabled(FEATURE_DASHBOARD));
 514 #endif
 515
 516 #ifdef USE_TELEMETRY
 517     if (featureIsEnabled(FEATURE_TELEMETRY)) {
 518         setTaskEnabled(TASK_TELEMETRY, true);
 519         if (rxRuntimeState.serialrxProvider == SERIALRX_JETIEXBUS) {
 520             // Reschedule telemetry to 500hz for Jeti Exbus
 521             rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
 522         } else if (rxRuntimeState.serialrxProvider == SERIALRX_CRSF) {
 523             // Reschedule telemetry to 500hz, 2ms for CRSF
 524             rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
 525         }
 526     }
 527 #endif
 528
 529 #ifdef USE_LED_STRIP
 530     setTaskEnabled(TASK_LEDSTRIP, featureIsEnabled(FEATURE_LED_STRIP));
 531 #endif
 532
 533 #ifdef USE_TRANSPONDER
 534     setTaskEnabled(TASK_TRANSPONDER, featureIsEnabled(FEATURE_TRANSPONDER));
 535 #endif
 536
 537 #ifdef USE_OSD
 538     rescheduleTask(TASK_OSD, TASK_PERIOD_HZ(osdConfig()->framerate_hz));
 539     setTaskEnabled(TASK_OSD, featureIsEnabled(FEATURE_OSD) && osdGetDisplayPort(NULL));
 540 #endif
 541
 542 #ifdef USE_BST
 543     setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
 544 #endif
 545
 546 #ifdef USE_ESC_SENSOR
 547     setTaskEnabled(TASK_ESC_SENSOR, featureIsEnabled(FEATURE_ESC_SENSOR));
 548 #endif
 549
 550 #ifdef USE_ADC_INTERNAL
 551     setTaskEnabled(TASK_ADC_INTERNAL, true);
 552 #endif
 553
 554 #ifdef USE_PINIOBOX
 555     pinioBoxTaskControl();
 556 #endif
 557
 558 #ifdef USE_CMS
 559 #ifdef USE_MSP_DISPLAYPORT
 560     setTaskEnabled(TASK_CMS, true);
 561 #else
 562     setTaskEnabled(TASK_CMS, featureIsEnabled(FEATURE_OSD) || featureIsEnabled(FEATURE_DASHBOARD));
 563 #endif
 564 #endif
 565
 566 #ifdef USE_VTX_CONTROL
 567 #if defined(USE_VTX_RTC6705) || defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP)
 568     setTaskEnabled(TASK_VTXCTRL, true);
 569 #endif
 570 #endif
 571
 572 #ifdef USE_CAMERA_CONTROL
 573     setTaskEnabled(TASK_CAMCTRL, true);
 574 #endif
 575
 576 #ifdef USE_RCDEVICE
 577     setTaskEnabled(TASK_RCDEVICE, rcdeviceIsEnabled());
 578 #endif
 579
 580 #ifdef USE_CRSF_V3
 581     const bool useCRSF = rxRuntimeState.serialrxProvider == SERIALRX_CRSF;
 582     setTaskEnabled(TASK_SPEED_NEGOTIATION, useCRSF);
 583 #endif
 584 }
 585