X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fstm32f4%2Fao_timer.c;h=83ffe4a76a247db1c1080b1c677183d153c94931;hb=HEAD;hp=fb83db003aa46085f37a3b294e2da02402dc49b3;hpb=65be5d1e07ff4ae619233f3b541b9599c44490ab;p=fw%2Faltos

diff --git a/src/stm32f4/ao_timer.c b/src/stm32f4/ao_timer.c
index fb83db00..83ffe4a7 100644
--- a/src/stm32f4/ao_timer.c
+++ b/src/stm32f4/ao_timer.c
@@ -47,12 +47,9 @@ 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)