{"action":"created","comment":{"url":"https://api.github.com/repos/iNavFlight/inav/pulls/comments/72902083","id":72902083,"diff_hunk":"@@ -523,8 +523,13 @@ void taskMainPidLoop(void)\n     cycleTime = getTaskDeltaTime(TASK_SELF);\n     dT = (float)cycleTime * 0.000001f;\n \n-    imuUpdateAccelerometer();\n-    imuUpdateGyroAndAttitude();\n+    /*\n+     * Acc update is run in sync with PID loop only when RACE mode is not enabled\n+     */\n+    if (!feature(FEATURE_RACE) && sensors(SENSOR_ACC)) {","path":"src/main/mw.c","position":9,"original_position":9,"commit_id":"9438effb7c25b80104629d41f8ffa701f892fe76","original_commit_id":"9438effb7c25b80104629d41f8ffa701f892fe76","user":{"login":"digitalentity","id":11059099,"avatar_url":"https://avatars.githubusercontent.com/u/11059099?v=3","gravatar_id":"","url":"https://api.github.com/users/digitalentity","html_url":"https://github.com/digitalentity","followers_url":"https://api.github.com/users/digitalentity/followers","following_url":"https://api.github.com/users/digitalentity/following{/other_user}","gists_url":"https://api.github.com/users/digitalentity/gists{/gist_id}","starred_url":"https://api.github.com/users/digitalentity/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/digitalentity/subscriptions","organizations_url":"https://api.github.com/users/digitalentity/orgs","repos_url":"https://api.github.com/users/digitalentity/repos","events_url":"https://api.github.com/users/digitalentity/events{/privacy}","received_events_url":"https://api.github.com/users/digitalentity/received_events","type":"User","site_admin":false},"body":"I think it's safe to run ACC and ATTI unsynched always as long as ACC has high enough sample rate","created_at":"2016-07-31T10:40:25Z","updated_at":"2016-07-31T10:40:25Z","html_url":"https://github.com/iNavFlight/inav/pull/409#discussion_r72902083","pull_request_url":"https://api.github.com/repos/iNavFlight/inav/pulls/409","_links":{"self":{"href":"https://api.github.com/repos/iNavFlight/inav/pulls/comments/72902083"},"html":{"href":"https://github.com/iNavFlight/inav/pull/409#discussion_r72902083"},"pull_request":{"href":"https://api.github.com/repos/iNavFlight/inav/pulls/409"}}},"pull_request":{"url":"https://api.github.com/repos/iNavFlight/inav/pulls/409","id":79351562,"html_url":"https://github.com/iNavFlight/inav/pull/409","diff_url":"https://github.com/iNavFlight/inav/pull/409.diff","patch_url":"https://github.com/iNavFlight/inav/pull/409.patch","issue_url":"https://api.github.com/repos/iNavFlight/inav/issues/409","number":409,"state":"open","locked":false,"title":"Accelerometer and attitude computation in independent tasks","user":{"login":"DzikuVx","id":966811,"avatar_url":"https://avatars.githubusercontent.com/u/966811?v=3","gravatar_id":"","url":"https://api.github.com/users/DzikuVx","html_url":"https://github.com/DzikuVx","followers_url":"https://api.github.com/users/DzikuVx/followers","following_url":"https://api.github.com/users/DzikuVx/following{/other_user}","gists_url":"https://api.github.com/users/DzikuVx/gists{/gist_id}","starred_url":"https://api.github.com/users/DzikuVx/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DzikuVx/subscriptions","organizations_url":"https://api.github.com/users/DzikuVx/orgs","repos_url":"https://api.github.com/users/DzikuVx/repos","events_url":"https://api.github.com/users/DzikuVx/events{/privacy}","received_events_url":"https://api.github.com/users/DzikuVx/received_events","type":"User","site_admin":false},"body":"This is continuation of #369 in order to squeeze as much as possible from gyro and acro modes.\r\nIt uses the same approach as Betaflight for ACC computations\r\n\r\nThis PR introduces feature \"RACE\" that, when activated does the following:\r\n1. 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