Ignore time taken to update EEPROM as otherwise stick commands can ups…

src/main/config/config.c

@@ -761,6 +761,9 @@ void ensureEEPROMStructureIsValid(void)
 
 void saveConfigAndNotify(void)
 {
+    // The write to EEPROM will cause a big delay in the current task, so ignore
+    schedulerIgnoreTaskExecTime();
+
     writeEEPROM();
     readEEPROM();
     beeperConfirmationBeeps(1);
@@ -803,6 +806,9 @@ void changePidProfileFromCellCount(uint8_t cellCount)
 
 void changePidProfile(uint8_t pidProfileIndex)
 {
+    // The config switch will cause a big enough delay in the current task to upset the scheduler
+    schedulerIgnoreTaskExecTime();
+
     if (pidProfileIndex < PID_PROFILE_COUNT) {
         systemConfigMutable()->pidProfileIndex = pidProfileIndex;
         loadPidProfile();

src/main/fc/tasks.c

@@ -115,7 +115,7 @@
 
 // taskUpdateRxMain() has occasional peaks in execution time so normal moving average duration estimation doesn't work
 // Decay the estimated max task duration by 1/(1 << RX_TASK_DECAY_SHIFT) on every invocation
-#define RX_TASK_DECAY_SHIFT 5
+#define RX_TASK_DECAY_SHIFT 7
 // Add a margin to the task duration estimation
 #define RX_TASK_MARGIN 1
 

src/main/rx/expresslrs.c

@@ -840,15 +840,15 @@ bool expressLrsSpiInit(const struct rxSpiConfig_s *rxConfig, struct rxRuntimeSta
     }
 
     rxSpiCommonIOInit(rxConfig);
-	
+    
     rxRuntimeState->channelCount = ELRS_MAX_CHANNELS;
-	
+    
     extiConfig->ioConfig = IOCFG_IPD;
     extiConfig->trigger = BETAFLIGHT_EXTI_TRIGGER_RISING;
 
     if (rxExpressLrsSpiConfig()->resetIoTag) {
         receiver.resetPin = IOGetByTag(rxExpressLrsSpiConfig()->resetIoTag);
-	} else {
+    } else {
         receiver.resetPin = IO_NONE;
     }