Tick dispatcher 64 32 16 8 4
0 31 1 1 1 1 1 2A 4A 8A
1 30 1 1 1 1 0 2A 4B 8B
2 29 1 1 1 0 1 2A 4A 16A
3 28 1 1 1 0 0 2A 4B
4 27 1 1 0 1 1 2A 4A 8A
5 26 1 1 0 1 0 2A 4B 8B
6 25 1 1 0 0 1 2A 4A
7 24 1 1 0 0 0 2A 4B
8 23 1 0 1 1 1 2A 4A 8A
9 22 1 0 1 1 0 2A 4B 8B
10 21 1 0 1 0 1 2A 4A 16A
11 20 1 0 1 0 0 2A 4B
12 19 1 0 0 1 1 2A 4A 8A
13 18 1 0 0 1 0 2A 4B 8B
14 17 1 0 0 0 1 2A 4A
15 16 1 0 0 0 0 2A 4B
16 15 0 1 1 1 1 2A 4A 8A
17 14 0 1 1 1 0 2A 4B 8B
18 13 0 1 1 0 1 2A 4A 16A
19 12 0 1 1 0 0 2A 4B
20 11 0 1 0 1 1 2A 4A 8A
21 10 0 1 0 1 0 2A 4B 8B
22 9 0 1 0 0 1 2A 4A
23 8 0 1 0 0 0 2A 4B
24 7 0 0 1 1 1 2A 4A 8A
25 6 0 0 1 1 0 2A 4B 8B
26 5 0 0 1 0 1 2A 4A 16A
27 4 0 0 1 0 0 2A 4B
28 3 0 0 0 1 1 2A 4A 8A
29 2 0 0 0 1 0 2A 4B 8B
30 1 0 0 0 0 1 2A 4A
31 0 0 0 0 0 0 2A 4B
32A
64A
32A
ID function time (ms) TASK (ms) function Calls
A FlightAngle_GetAccData 0.4 2
B FlightAngle_GetGyroData 0.4 4 B C
C FlightAngle_Processing_Gyro 0.27 8
D FlightAngle_Processing_Acc 0.6 16 A
E Control Motors 32 D
F PIDs x 6 64
function Calls Execution time Freq CPU load CPU LOAD total
500 0.00% 21.13%
0.67 250 16.75%
125 0.00%
0.4 62.5 2.50%
0.6 31.25 1.88%
15.625 0.00%