Remove rxFrameReady()

betaflight · Apr 17, 2022 · 1368b22 · 1368b22
1 parent 12bb43c
commit 1368b22
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Showing 4 changed files with 7 additions and 17 deletions.
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
@@ -1262,14 +1262,6 @@ FAST_CODE bool pidLoopReady(void)
     return false;
 }
 
-FAST_CODE bool rxFrameReady(void)
-{
-    if ((activePidLoopDenom == 1) || (pidUpdateCounter % activePidLoopDenom == 0)) {
-        return true;
-    }
-    return false;
-}
-
 FAST_CODE void taskFiltering(timeUs_t currentTimeUs)
 {
     gyroFiltering(currentTimeUs);

diff --git a/src/main/fc/core.h b/src/main/fc/core.h
@@ -82,7 +82,6 @@ void updateArmingStatus(void);
 void taskGyroSample(timeUs_t currentTimeUs);
 bool gyroFilterReady(void);
 bool pidLoopReady(void);
-bool rxFrameReady(void);
 void taskFiltering(timeUs_t currentTimeUs);
 void taskMainPidLoop(timeUs_t currentTimeUs);
 

diff --git a/src/main/scheduler/scheduler.c b/src/main/scheduler/scheduler.c
@@ -503,13 +503,13 @@ FAST_CODE void scheduler(void)
             if (pidLoopReady()) {
                 taskExecutionTimeUs += schedulerExecuteTask(getTask(TASK_PID), currentTimeUs);
             }
-            if (rxFrameReady()) {
-                // Check for incoming RX data. Don't do this in the checker as that is called repeatedly within
-                // a given gyro loop, and ELRS takes a long time to process this and so can only be safely processed
-                // before the checkers
-                rxFrameCheck(currentTimeUs, cmpTimeUs(currentTimeUs, getTask(TASK_RX)->lastExecutedAtUs));
-            }
-            // Check for failsafe conditions every 10ms, independently of the Rx Task, which runs at 33hz.
+
+            // Check for incoming RX data. Don't do this in the checker as that is called repeatedly within
+            // a given gyro loop, and ELRS takes a long time to process this and so can only be safely processed
+            // before the checkers
+            rxFrameCheck(currentTimeUs, cmpTimeUs(currentTimeUs, getTask(TASK_RX)->lastExecutedAtUs));
+
+            // Check for failsafe conditions without reliance on the RX task being well behaved
             if (cmp32(millis(), lastFailsafeCheckMs) > PERIOD_RXDATA_FAILURE) {
                 // This is very low cost taking less that 4us every 10ms
                 failsafeCheckDataFailurePeriod();

diff --git a/src/test/unit/scheduler_unittest.cc b/src/test/unit/scheduler_unittest.cc
@@ -67,7 +67,6 @@ extern "C" {
     int16_t debug[1];
     uint8_t debugMode = 0;
 
-    bool rxFrameReady(void) { return 0; }
     void rxFrameCheck(timeUs_t, timeDelta_t) {}
 
     // set up micros() to simulate time