Ok, my quad is flying, and I've started trying to do this mod! I think I'm at a dead end in understanding some of the code, and I was wondering if someone could give me a little nudge.
I think the meat of my question is what does the system module, and specifically the "objectpersistance" do? It looks like the LED is controlled by "objectPersistenceQueue," which is in the system module. It runs (and therefore, blinks) at twice the speed when armed. I
I think I could also benefit a bit by understanding a bit better how the PiOS works. Where is the task scheduler? Does each "module" contain one task? And I think I understand part of how a task is inserted into the task scheduler (by calling xQueueReceive()), but I thought "objectPersistenceQueue" should be a pointer to the task, and I can't find where that is initialized.
Thank you for any help or links to info you could give!