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_MODES,
 171     RX_STATE_UPDATE,
 172     RX_STATE_COUNT
 173 } rxState_e;
 174
 175 static rxState_e rxState = RX_STATE_CHECK;
 176
 177 bool taskUpdateRxMainInProgress()
 178 {
 179     return (rxState != RX_STATE_CHECK);
 180 }
 181
 182 static void taskUpdateRxMain(timeUs_t currentTimeUs)
 183 {
 184     static timeDelta_t rxStateDurationFractionUs[RX_STATE_COUNT];
 185     timeDelta_t executeTimeUs;
 186     rxState_e oldRxState = rxState;
 187     timeDelta_t anticipatedExecutionTime;
 188
 189     // Where we are using a state machine call schedulerIgnoreTaskExecRate() for all states bar one
 190     if (rxState != RX_STATE_UPDATE) {
 191         schedulerIgnoreTaskExecRate();
 192     }
 193
 194     switch (rxState) {
 195     default:
 196     case RX_STATE_CHECK:
 197         if (!processRx(currentTimeUs)) {
 198             rxState = RX_STATE_CHECK;
 199             break;
 200         }
 201         rxState = RX_STATE_MODES;
 202         break;
 203
 204     case RX_STATE_MODES:
 205         processRxModes(currentTimeUs);
 206         rxState = RX_STATE_UPDATE;
 207         break;
 208
 209     case RX_STATE_UPDATE:
 210         // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
 211         updateRcCommands();
 212         updateArmingStatus();
 213
 214 #ifdef USE_USB_CDC_HID
 215         if (!ARMING_FLAG(ARMED)) {
 216             sendRcDataToHid();
 217         }
 218 #endif
 219         rxState = RX_STATE_CHECK;
 220         break;
 221     }
 222
 223     if (!schedulerGetIgnoreTaskExecTime()) {
 224         executeTimeUs = micros() - currentTimeUs + RX_TASK_MARGIN;
 225
 226         // If the scheduler has reduced the anticipatedExecutionTime due to task aging, pick that up
 227         anticipatedExecutionTime = schedulerGetNextStateTime();
 228         if (anticipatedExecutionTime != (rxStateDurationFractionUs[oldRxState] >> RX_TASK_DECAY_SHIFT)) {
 229             rxStateDurationFractionUs[oldRxState] = anticipatedExecutionTime << RX_TASK_DECAY_SHIFT;
 230         }
 231
 232         if (executeTimeUs > (rxStateDurationFractionUs[oldRxState] >> RX_TASK_DECAY_SHIFT)) {
 233             rxStateDurationFractionUs[oldRxState] = executeTimeUs << RX_TASK_DECAY_SHIFT;
 234         } else {
 235             // Slowly decay the max time
 236             rxStateDurationFractionUs[oldRxState]--;
 237         }
 238     }
 239
 240     if (debugMode == DEBUG_RX_STATE_TIME) {
 241         debug[oldRxState] = rxStateDurationFractionUs[oldRxState] >> RX_TASK_DECAY_SHIFT;
 242     }
 243
 244     schedulerSetNextStateTime(rxStateDurationFractionUs[rxState] >> RX_TASK_DECAY_SHIFT);
 245 }
 246
 247
 248 #ifdef USE_BARO
 249 static void taskUpdateBaro(timeUs_t currentTimeUs)
 250 {
 251     UNUSED(currentTimeUs);
 252
 253     if (sensors(SENSOR_BARO)) {
 254         const uint32_t newDeadline = baroUpdate(currentTimeUs);
 255         if (newDeadline != 0) {
 256             rescheduleTask(TASK_SELF, newDeadline);
 257         }
 258     }
 259 }
 260 #endif
 261
 262 #ifdef USE_MAG
 263 static void taskUpdateMag(timeUs_t currentTimeUs)
 264 {
 265     UNUSED(currentTimeUs);
 266
 267     if (sensors(SENSOR_MAG)) {
 268         const uint32_t newDeadline = compassUpdate(currentTimeUs);
 269         if (newDeadline != 0) {
 270             rescheduleTask(TASK_SELF, newDeadline);
 271         }
 272     }
 273 }
 274 #endif
 275
 276 #if defined(USE_RANGEFINDER)
 277 void taskUpdateRangefinder(timeUs_t currentTimeUs)
 278 {
 279     UNUSED(currentTimeUs);
 280
 281     if (!sensors(SENSOR_RANGEFINDER)) {
 282         return;
 283     }
 284
 285     rangefinderUpdate();
 286
 287     rangefinderProcess(getCosTiltAngle());
 288 }
 289 #endif
 290
 291 #if defined(USE_BARO) || defined(USE_GPS)
 292 static void taskCalculateAltitude(timeUs_t currentTimeUs)
 293 {
 294     calculateEstimatedAltitude(currentTimeUs);
 295 }
 296 #endif // USE_BARO || USE_GPS
 297
 298 #ifdef USE_TELEMETRY
 299 static void taskTelemetry(timeUs_t currentTimeUs)
 300 {
 301     if (!cliMode && featureIsEnabled(FEATURE_TELEMETRY)) {
 302         subTaskTelemetryPollSensors(currentTimeUs);
 303
 304         telemetryProcess(currentTimeUs);
 305     }
 306 }
 307 #endif
 308
 309 #ifdef USE_CAMERA_CONTROL
 310 static void taskCameraControl(uint32_t currentTime)
 311 {
 312     if (ARMING_FLAG(ARMED)) {
 313         return;
 314     }
 315
 316     cameraControlProcess(currentTime);
 317 }
 318 #endif
 319
 320 #define DEFINE_TASK(taskNameParam, subTaskNameParam, checkFuncParam, taskFuncParam, desiredPeriodParam, staticPriorityParam) {  \
 321     .taskName = taskNameParam, \
 322     .subTaskName = subTaskNameParam, \
 323     .checkFunc = checkFuncParam, \
 324     .taskFunc = taskFuncParam, \
 325     .desiredPeriodUs = desiredPeriodParam, \
 326     .staticPriority = staticPriorityParam \
 327 }
 328
 329 // Task info in .bss (unitialised data)
 330 task_t tasks[TASK_COUNT];
 331
 332 // Task ID data in .data (initialised data)
 333 task_attribute_t task_attributes[TASK_COUNT] = {
 334     [TASK_SYSTEM] = DEFINE_TASK("SYSTEM", "LOAD", NULL, taskSystemLoad, TASK_PERIOD_HZ(10), TASK_PRIORITY_MEDIUM_HIGH),
 335     [TASK_MAIN] = DEFINE_TASK("SYSTEM", "UPDATE", NULL, taskMain, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM_HIGH),
 336     [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
 337     [TASK_BATTERY_ALERTS] = DEFINE_TASK("BATTERY_ALERTS", NULL, NULL, taskBatteryAlerts, TASK_PERIOD_HZ(5), TASK_PRIORITY_MEDIUM),
 338     [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
 339     [TASK_BATTERY_CURRENT] = DEFINE_TASK("BATTERY_CURRENT", NULL, NULL, batteryUpdateCurrentMeter, TASK_PERIOD_HZ(50), TASK_PRIORITY_MEDIUM),
 340
 341 #ifdef USE_TRANSPONDER
 342     [TASK_TRANSPONDER] = DEFINE_TASK("TRANSPONDER", NULL, NULL, transponderUpdate, TASK_PERIOD_HZ(250), TASK_PRIORITY_LOW),
 343 #endif
 344
 345 #ifdef USE_STACK_CHECK
 346     [TASK_STACK_CHECK] = DEFINE_TASK("STACKCHECK", NULL, NULL, taskStackCheck, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOWEST),
 347 #endif
 348
 349     [TASK_GYRO] = DEFINE_TASK("GYRO", NULL, NULL, taskGyroSample, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
 350     [TASK_FILTER] = DEFINE_TASK("FILTER", NULL, NULL, taskFiltering, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
 351     [TASK_PID] = DEFINE_TASK("PID", NULL, NULL, taskMainPidLoop, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
 352 #ifdef USE_ACC
 353     [TASK_ACCEL] = DEFINE_TASK("ACC", NULL, NULL, taskUpdateAccelerometer, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM),
 354     [TASK_ATTITUDE] = DEFINE_TASK("ATTITUDE", NULL, NULL, imuUpdateAttitude, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM),
 355 #endif
 356     [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
 357     [TASK_DISPATCH] = DEFINE_TASK("DISPATCH", NULL, NULL, dispatchProcess, TASK_PERIOD_HZ(1000), TASK_PRIORITY_HIGH),
 358
 359 #ifdef USE_BEEPER
 360     [TASK_BEEPER] = DEFINE_TASK("BEEPER", NULL, NULL, beeperUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
 361 #endif
 362
 363 #ifdef USE_GPS
 364     [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)
 365 #endif
 366
 367 #ifdef USE_MAG
 368     [TASK_COMPASS] = DEFINE_TASK("COMPASS", NULL, NULL, taskUpdateMag, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
 369 #endif
 370
 371 #ifdef USE_BARO
 372     [TASK_BARO] = DEFINE_TASK("BARO", NULL, NULL, taskUpdateBaro, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOW),
 373 #endif
 374
 375 #if defined(USE_BARO) || defined(USE_GPS)
 376     [TASK_ALTITUDE] = DEFINE_TASK("ALTITUDE", NULL, NULL, taskCalculateAltitude, TASK_PERIOD_HZ(40), TASK_PRIORITY_LOW),
 377 #endif
 378
 379 #ifdef USE_DASHBOARD
 380     [TASK_DASHBOARD] = DEFINE_TASK("DASHBOARD", NULL, NULL, dashboardUpdate, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
 381 #endif
 382
 383 #ifdef USE_OSD
 384     [TASK_OSD] = DEFINE_TASK("OSD", NULL, osdUpdateCheck, osdUpdate, TASK_PERIOD_HZ(OSD_FRAMERATE_DEFAULT_HZ), TASK_PRIORITY_LOW),
 385 #endif
 386
 387 #ifdef USE_TELEMETRY
 388     [TASK_TELEMETRY] = DEFINE_TASK("TELEMETRY", NULL, NULL, taskTelemetry, TASK_PERIOD_HZ(250), TASK_PRIORITY_LOW),
 389 #endif
 390
 391 #ifdef USE_LED_STRIP
 392     [TASK_LEDSTRIP] = DEFINE_TASK("LEDSTRIP", NULL, NULL, ledStripUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
 393 #endif
 394
 395 #ifdef USE_BST
 396     [TASK_BST_MASTER_PROCESS] = DEFINE_TASK("BST_MASTER_PROCESS", NULL, NULL, taskBstMasterProcess, TASK_PERIOD_HZ(50), TASK_PRIORITY_LOWEST),
 397 #endif
 398
 399 #ifdef USE_ESC_SENSOR
 400     [TASK_ESC_SENSOR] = DEFINE_TASK("ESC_SENSOR", NULL, NULL, escSensorProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
 401 #endif
 402
 403 #ifdef USE_CMS
 404     [TASK_CMS] = DEFINE_TASK("CMS", NULL, NULL, cmsHandler, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOW),
 405 #endif
 406
 407 #ifdef USE_VTX_CONTROL
 408     [TASK_VTXCTRL] = DEFINE_TASK("VTXCTRL", NULL, NULL, vtxUpdate, TASK_PERIOD_HZ(5), TASK_PRIORITY_LOWEST),
 409 #endif
 410
 411 #ifdef USE_RCDEVICE
 412     [TASK_RCDEVICE] = DEFINE_TASK("RCDEVICE", NULL, NULL, rcdeviceUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_MEDIUM),
 413 #endif
 414
 415 #ifdef USE_CAMERA_CONTROL
 416     [TASK_CAMCTRL] = DEFINE_TASK("CAMCTRL", NULL, NULL, taskCameraControl, TASK_PERIOD_HZ(5), TASK_PRIORITY_LOW),
 417 #endif
 418
 419 #ifdef USE_ADC_INTERNAL
 420     [TASK_ADC_INTERNAL] = DEFINE_TASK("ADCINTERNAL", NULL, NULL, adcInternalProcess, TASK_PERIOD_HZ(1), TASK_PRIORITY_LOWEST),
 421 #endif
 422
 423 #ifdef USE_PINIOBOX
 424     [TASK_PINIOBOX] = DEFINE_TASK("PINIOBOX", NULL, NULL, pinioBoxUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOWEST),
 425 #endif
 426
 427 #ifdef USE_RANGEFINDER
 428     [TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, taskUpdateRangefinder, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOWEST),
 429 #endif
 430
 431 #ifdef USE_CRSF_V3
 432     [TASK_SPEED_NEGOTIATION] = DEFINE_TASK("SPEED_NEGOTIATION", NULL, NULL, speedNegotiationProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
 433 #endif
 434 };
 435
 436 task_t *getTask(unsigned taskId)
 437 {
 438     return &tasks[taskId];
 439 }
 440
 441 // Has to be done before tasksInit() in order to initialize any task data which may be uninitialized at boot
 442 void tasksInitData(void)
 443 {
 444     for (int i = 0; i < TASK_COUNT; i++) {
 445         tasks[i].attribute = &task_attributes[i];
 446     }
 447 }
 448
 449 void tasksInit(void)
 450 {
 451     schedulerInit();
 452
 453     setTaskEnabled(TASK_MAIN, true);
 454
 455     setTaskEnabled(TASK_SERIAL, true);
 456     rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
 457
 458     const bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
 459     setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
 460
 461 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
 462     // If vbat motor output compensation is used, use fast vbat samplingTime
 463     if (isSagCompensationConfigured()) {
 464         rescheduleTask(TASK_BATTERY_VOLTAGE, TASK_PERIOD_HZ(FAST_VOLTAGE_TASK_FREQ_HZ));
 465     }
 466 #endif
 467
 468     const bool useBatteryCurrent = batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
 469     setTaskEnabled(TASK_BATTERY_CURRENT, useBatteryCurrent);
 470     const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || featureIsEnabled(FEATURE_OSD);
 471     setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
 472
 473 #ifdef USE_STACK_CHECK
 474     setTaskEnabled(TASK_STACK_CHECK, true);
 475 #endif
 476
 477     if (sensors(SENSOR_GYRO)) {
 478         rescheduleTask(TASK_GYRO, gyro.sampleLooptime);
 479         rescheduleTask(TASK_FILTER, gyro.targetLooptime);
 480         rescheduleTask(TASK_PID, gyro.targetLooptime);
 481         setTaskEnabled(TASK_GYRO, true);
 482         setTaskEnabled(TASK_FILTER, true);
 483         setTaskEnabled(TASK_PID, true);
 484         schedulerEnableGyro();
 485     }
 486
 487 #if defined(USE_ACC)
 488     if (sensors(SENSOR_ACC) && acc.sampleRateHz) {
 489         setTaskEnabled(TASK_ACCEL, true);
 490         rescheduleTask(TASK_ACCEL, TASK_PERIOD_HZ(acc.sampleRateHz));
 491         setTaskEnabled(TASK_ATTITUDE, true);
 492     }
 493 #endif
 494
 495 #ifdef USE_RANGEFINDER
 496     if (sensors(SENSOR_RANGEFINDER)) {
 497         setTaskEnabled(TASK_RANGEFINDER, featureIsEnabled(FEATURE_RANGEFINDER));
 498     }
 499 #endif
 500
 501     setTaskEnabled(TASK_RX, true);
 502
 503     setTaskEnabled(TASK_DISPATCH, dispatchIsEnabled());
 504
 505 #ifdef USE_BEEPER
 506     setTaskEnabled(TASK_BEEPER, true);
 507 #endif
 508
 509 #ifdef USE_GPS
 510     setTaskEnabled(TASK_GPS, featureIsEnabled(FEATURE_GPS));
 511 #endif
 512
 513 #ifdef USE_MAG
 514     setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
 515 #endif
 516
 517 #ifdef USE_BARO
 518     setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
 519 #endif
 520
 521 #if defined(USE_BARO) || defined(USE_GPS)
 522     setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || featureIsEnabled(FEATURE_GPS));
 523 #endif
 524
 525 #ifdef USE_DASHBOARD
 526     setTaskEnabled(TASK_DASHBOARD, featureIsEnabled(FEATURE_DASHBOARD));
 527 #endif
 528
 529 #ifdef USE_TELEMETRY
 530     if (featureIsEnabled(FEATURE_TELEMETRY)) {
 531         setTaskEnabled(TASK_TELEMETRY, true);
 532         if (rxRuntimeState.serialrxProvider == SERIALRX_JETIEXBUS) {
 533             // Reschedule telemetry to 500hz for Jeti Exbus
 534             rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
 535         } else if (rxRuntimeState.serialrxProvider == SERIALRX_CRSF) {
 536             // Reschedule telemetry to 500hz, 2ms for CRSF
 537             rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
 538         }
 539     }
 540 #endif
 541
 542 #ifdef USE_LED_STRIP
 543     setTaskEnabled(TASK_LEDSTRIP, featureIsEnabled(FEATURE_LED_STRIP));
 544 #endif
 545
 546 #ifdef USE_TRANSPONDER
 547     setTaskEnabled(TASK_TRANSPONDER, featureIsEnabled(FEATURE_TRANSPONDER));
 548 #endif
 549
 550 #ifdef USE_OSD
 551     rescheduleTask(TASK_OSD, TASK_PERIOD_HZ(osdConfig()->framerate_hz));
 552     setTaskEnabled(TASK_OSD, featureIsEnabled(FEATURE_OSD) && osdGetDisplayPort(NULL));
 553 #endif
 554
 555 #ifdef USE_BST
 556     setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
 557 #endif
 558
 559 #ifdef USE_ESC_SENSOR
 560     setTaskEnabled(TASK_ESC_SENSOR, featureIsEnabled(FEATURE_ESC_SENSOR));
 561 #endif
 562
 563 #ifdef USE_ADC_INTERNAL
 564     setTaskEnabled(TASK_ADC_INTERNAL, true);
 565 #endif
 566
 567 #ifdef USE_PINIOBOX
 568     pinioBoxTaskControl();
 569 #endif
 570
 571 #ifdef USE_CMS
 572 #ifdef USE_MSP_DISPLAYPORT
 573     setTaskEnabled(TASK_CMS, true);
 574 #else
 575     setTaskEnabled(TASK_CMS, featureIsEnabled(FEATURE_OSD) || featureIsEnabled(FEATURE_DASHBOARD));
 576 #endif
 577 #endif
 578
 579 #ifdef USE_VTX_CONTROL
 580 #if defined(USE_VTX_RTC6705) || defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP)
 581     setTaskEnabled(TASK_VTXCTRL, true);
 582 #endif
 583 #endif
 584
 585 #ifdef USE_CAMERA_CONTROL
 586     setTaskEnabled(TASK_CAMCTRL, true);
 587 #endif
 588
 589 #ifdef USE_RCDEVICE
 590     setTaskEnabled(TASK_RCDEVICE, rcdeviceIsEnabled());
 591 #endif
 592
 593 #ifdef USE_CRSF_V3
 594     const bool useCRSF = rxRuntimeState.serialrxProvider == SERIALRX_CRSF;
 595     setTaskEnabled(TASK_SPEED_NEGOTIATION, useCRSF);
 596 #endif
 597 }
 598