About stabilizerTask's running Rate.

[HelloIDTC]

After tag 2018.01.1, vTaskDelayUntil(&lastWakeTime, F2T(RATE_MAIN_LOOP)) was removed from stabilizerTask. How do you ensure that this task runs at 1000Hz?
https://github.com/bitcraze/crazyflie-firmware/blob/2018.01.1/src/modules/src/stabilizer.c#L125

[gemenerik]

This comment refers to it. Instead of forcing a delay, we wait for a callback from the gyro.

[HelloIDTC]

Thanks, is the gyroscope's callback time accurate? Whether time jitter occurs?

[gemenerik]

We configure the gyro to have an output data rate of 1000 Hz here. I would think this is pretty constant. The Crazyflie 2.1 uses the Bosch BMI088, perhaps you can find more information about it online.

[HelloIDTC]

Thanks.