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In the tasks.c file, this line in particular
[TASK_ATTITUDE] = DEFINE_TASK("ATTITUDE", NULL, NULL, imuUpdateAttitude, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM)
If I understood this correctly, attitude is updated at 100hz only by default. Why then do we need gyros which update at 8kHz rates?
I haven't quite dug into the source code to confirm my suspicions, but this file lends credence to the idea that this task facilitates accelerometer-based attitude calculations and not gyroscope-based calculations.
From line 274 to line 280 in the file you link to (tasks.c), the TASK_ATTITUDE task is said to be enabled if the accelerometer device is enabled (in the Betaflight Configurator):
#if defined(USE_ACC)
if (sensors(SENSOR_ACC) && acc.sampleRateHz) {
setTaskEnabled(TASK_ACCEL, true);
rescheduleTask(TASK_ACCEL, TASK_PERIOD_HZ(acc.sampleRateHz));
setTaskEnabled(TASK_ATTITUDE, true);
}
#endif
Given that these are the only times that the TASK_ATTITUDE task is mentioned in this file, I doubt that this 100 Hz task is related to gyroscopic sampling.
