Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / stm / ao_timer.c

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index d00deffab2161b80e0333f6524567deefdb87052..eec0a35ad3dbc9807d4c9e5980d77a624a85134a 100644 (file)
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -67,12 +67,9 @@ void stm_systick_isr(void)
 #if HAS_TICK
                ++ao_tick_count;
 #endif
-#if HAS_TASK_QUEUE
-               if (ao_task_alarm_tick && (int16_t) (ao_tick_count - ao_task_alarm_tick) >= 0)
-                       ao_task_check_alarm((uint16_t) ao_tick_count);
-#endif
+               ao_task_check_alarm();
 #if AO_DATA_ALL
-               if (++ao_data_count == ao_data_interval) {
+               if (++ao_data_count == ao_data_interval && ao_data_interval) {
                        ao_data_count = 0;
 #if HAS_FAKE_FLIGHT
                        if (ao_fake_flight_active)