Merge remote-tracking branch 'origin/master' into ICM20948_fix

# Conflicts: # esp32/include/peripherals/imu.h
2025-11-27 21:14:59 +01:00
parent 52b81554a3 f78a0f50bd
commit 5b6fed69c0
3 changed files with 58 additions and 39 deletions
@@ -132,12 +132,6 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
 #if FT_ENABLED(USE_WS2812)
        ledService.loop();
 #endif
-        EXECUTE_EVERY_N_MS(250, {
-            JsonDocument doc;
-            JsonVariant results = doc.to<JsonVariant>();
-            peripherals.getIMUResult(results);
-            socket.emit(EVENT_IMU, results);
-        });
        vTaskDelayUntil(&xLastWakeTime, xFrequency);
    }
 }
@@ -164,6 +158,12 @@ void IRAM_ATTR serviceLoopEntry(void *) {
        wifiService.loop();
        apService.loop();
        EXECUTE_EVERY_N_MS(2000, system_service::emitMetrics(socket));
+        EXECUTE_EVERY_N_MS(500, {
+            JsonDocument doc;
+            JsonVariant results = doc.to<JsonVariant>();
+            peripherals.getIMUResult(results);
+            socket.emit(EVENT_IMU, results);
+        });

        vTaskDelay(100 / portTICK_PERIOD_MS);
    }