Simplified PID rate counter code (betaflight#5350)

webspy2002 · Mar 3, 2018 · 36c3fdb · 36c3fdb
1 parent 33ee5ef
commit 36c3fdb
Showing 1 changed file with 3 additions and 6 deletions.
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
@@ -929,24 +929,21 @@ static void subTaskMotorUpdate(timeUs_t currentTimeUs)
 // Function for loop trigger
 void taskMainPidLoop(timeUs_t currentTimeUs)
 {
-    static uint8_t pidUpdateCountdown = 0;
+    static uint32_t pidUpdateCounter = 0;
 
 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_GYROPID_SYNC)
     if (lockMainPID() != 0) return;
 #endif
 
     // DEBUG_PIDLOOP, timings for:
     // 0 - gyroUpdate()
-    // 1 - pidController()
+    // 1 - subTaskPidController()
     // 2 - subTaskMotorUpdate()
     // 3 - subTaskMainSubprocesses()
     gyroUpdate(currentTimeUs);
     DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - currentTimeUs);
 
-    if (pidUpdateCountdown) {
-        pidUpdateCountdown--;
-    } else {
-        pidUpdateCountdown = pidConfig()->pid_process_denom - 1;
+    if (pidUpdateCounter++ % pidConfig()->pid_process_denom == 0) {
         subTaskPidController(currentTimeUs);
         subTaskMotorUpdate(currentTimeUs);
         subTaskMainSubprocesses(currentTimeUs);