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Reduce CPU overhead by rate-limiting updateArmingStatus() to 200 Hz #11200

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Reduce CPU overhead by rate-limiting updateArmingStatus() to 200 Hz #11200

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7 changes: 6 additions & 1 deletion src/main/fc/fc_core.c
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Original file line number Diff line number Diff line change
Expand Up @@ -943,7 +943,12 @@ void taskMainPidLoop(timeUs_t currentTimeUs)

processPilotAndFailSafeActions(dT);

updateArmingStatus();
// Check battery, GPS signal, arming status etc @ 200 Hz
static uint8_t armingStatusDivider = 0;
if (++armingStatusDivider >= 10) {
armingStatusDivider = 0;
updateArmingStatus();
}
Comment on lines +947 to +951
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@qodo-code-review qodo-code-review bot Dec 23, 2025

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Suggestion: Replace the iteration-based counter with a time-based check using currentTimeUs to ensure updateArmingStatus() runs at a consistent 200 Hz. [general, importance: 7]

Suggested change
static uint8_t armingStatusDivider = 0;
if (++armingStatusDivider >= 10) {
armingStatusDivider = 0;
updateArmingStatus();
}
static timeUs_t lastArmingStatusTimeUs = 0;
if ((int32_t)(currentTimeUs - lastArmingStatusTimeUs) >= 5000) {
lastArmingStatusTimeUs = currentTimeUs;
updateArmingStatus();
}


if (rxConfig()->rcFilterFrequency) {
rcInterpolationApply(isRXDataNew, currentTimeUs);
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