qqqlab · qqqlab · Feb 5, 2026 · Jan 30, 2026 · Jan 30, 2026 · Jan 31, 2026
diff --git a/.gitignore b/.gitignore
@@ -1,5 +1,5 @@
 .pio
 .vscode
 .private
-src/main.cpp
+src/main*.cpp
 src/madflight_config.h
diff --git a/examples/00.HelloWorld/main.cpp b/examples/00.HelloWorld/main.cpp
@@ -6,33 +6,27 @@ Upload, connect Serial Monitor at 115200 baud and send 'help' to see available c
 
 See http://madflight.com for detailed description
 
-MIT license
-Copyright (c) 2023-2025 https://madflight.com
+MIT license - Copyright (c) 2023-2026 https://madflight.com
 ##########################################################################################################################*/
 
-#include <Arduino.h>
-#include "madflight_config.h" //Edit this header file to setup the pins, hardware, radio, etc. for madflight
-#include <madflight.h>
+#include "madflight_config.h" // Edit this header file to setup the pins, hardware, radio, etc. for madflight
+#include <madflight.h> // Include the library, do this after madflight_config 
 
 void setup() {
-  madflight_setup(); //setup madflight modules
+  // Setup madflight modules and start IMU, BBX, RCL, CLI, and SENSORS rtos tasks
+  madflight_setup(); 
 }
 
 void loop() {
-  rcl.update(); // get rc radio commands
-  bar.update(); // barometer
-  mag.update(); // magnetometer
-  gps.update(); // gps
-  bat.update(); // battery consumption
-  rdr.update(); // radar
-  ofl.update(); // optical flow
-  cli.update(); // process CLI commands
+  // Nothing to do here for madflight, delay() yields to Idle Task for clearer CPU usage statistics
+  delay(10);
 }
 
-//This is __MAIN__ function of this program. It is called when new IMU data is available.
+// This function is called from the IMU task when fresh IMU data is available.
 void imu_loop() {
-  //toggle led on every 1000 samples (normally 1 second)
+  // Toggle led on every 1000 samples (E.g. 1 second peroid at 1000Hz sample rate)
   if(imu.update_cnt % 1000 == 0) led.toggle();
 
-  ahr.update(); //Sensor fusion: update ahr.roll, ahr.pitch, and ahr.yaw angle estimates (degrees) from IMU data 
+  // AHRS sensor fusion -  type 'pahr' in CLI to see results
+  ahr.update();
 }
diff --git a/examples/10.Quadcopter/main.cpp b/examples/10.Quadcopter/main.cpp
@@ -38,11 +38,9 @@ Blinking long ON short OFF (red)       ARMED
 Blink interval longer than 1 second    imu_loop() is taking too much time
 Fast blinking                          Something is wrong, connect USB serial for info
 
-MIT license
-Copyright (c) 2023-2025 https://madflight.com
+MIT license - Copyright (c) 2023-2026 https://madflight.com
 ##########################################################################################################################*/
 
-#include <Arduino.h>
 #include "madflight_config.h" //Edit this header file to setup the pins, hardware, radio, etc. for madflight
 #include <madflight.h>
 
@@ -84,9 +82,9 @@ const float Kd_yaw_angle    = 0.1;      //Yaw D-gain
 const float Kp_ro_pi_rate   = 0.15;     //Roll/Pitch rate P-gain
 const float Ki_ro_pi_rate   = 0.2;      //Roll/Pitch rate I-gain
 const float Kd_ro_pi_rate   = 0.0002;   //Roll/Pitch rate D-gain (be careful when increasing too high, motors will begin to overheat!)
-const float Kp_yaw_rate     = 0.3;       //Yaw rate P-gain
-const float Ki_yaw_rate     = 0.05;      //Yaw rate I-gain
-const float Kd_yaw_rate     = 0.00015;   //Yaw rate D-gain (be careful when increasing too high, motors will begin to overheat!)
+const float Kp_yaw_rate     = 0.3;      //Yaw rate P-gain
+const float Ki_yaw_rate     = 0.05;     //Yaw rate I-gain
+const float Kd_yaw_rate     = 0.00015;  //Yaw rate D-gain (be careful when increasing too high, motors will begin to overheat!)
 
 //Yaw to keep in ANGLE mode when yaw stick is centered
 float yaw_desired = 0;
@@ -120,7 +118,8 @@ void setup() {
 //========================================================================================================================//
 
 void loop() {
-  cli.update(); //process CLI commands
+  // Nothing to do here for madflight, delay() yields to Idle Task for clearer CPU usage statistics
+  delay(10);
 }
 
 //========================================================================================================================//
@@ -135,9 +134,6 @@ void imu_loop() {
   //Sensor fusion: update ahr.roll, ahr.pitch, and ahr.yaw angle estimates (degrees) from IMU data
   ahr.update(); 
 
-  //Get radio commands - Note: don't do this in loop() because loop() is a lower priority task than imu_loop(), so in worst case loop() will not get any processor time.
-  rcl.update();
-
   //PID Controller RATE or ANGLE
   #ifdef FLIGHTMODE_ANGLE
     control_Angle(rcl.throttle == 0); //Stabilize on pitch/roll angle setpoint, stabilize yaw on rate setpoint  //control_Angle2(rcin_thro_is_low); //Stabilize on pitch/roll setpoint using cascaded method. Rate controller must be tuned well first!

diff --git a/examples/11.QuadcopterAdvanced/main.cpp b/examples/11.QuadcopterAdvanced/main.cpp
@@ -41,7 +41,7 @@ Blink interval longer than 1 second    imu_loop() is taking too much time
 Fast blinking                          Something is wrong, connect USB serial for info
 
 MIT license
-Copyright (c) 2023-2025 https://madflight.com
+MIT license - Copyright (c) 2023-2026 https://madflight.com
 ##########################################################################################################################*/
 
 //Vehicle specific madflight configuration
@@ -127,50 +127,23 @@ void setup() {
 //========================================================================================================================//
 
 void loop() {
-  //update battery, and log if battery was updated.
-  if(bat.update()) { 
-    bbx.log_bat();
-  } 
-
-  alt.updateAccelUp(ahr.getAccelUp(), ahr.ts); //NOTE: do this here and not in imu_loop() because `alt` object is not thread safe. - Update altitude estimator with current earth-frame up acceleration measurement
-
-  if(bar.update()) {
-    alt.updateBarAlt(bar.alt, bar.ts); //update altitude estimator with current altitude measurement
-    bbx.log_bar(); //log if pressure updated
-  }
-
-  mag.update();
-
-  //update gps (and log GPS and ATT for plot.ardupilot.org visualization)
-  if(gps.update()) {
-    bbx.log_gps(); 
-    bbx.log_att();
-  } 
-
-  //logging
-  static uint32_t log_ts = 0;
-  if(millis() - log_ts > 100) {
-    log_ts = millis();
-    bbx.log_sys();
-  }
-
-  cli.update(); //process CLI commands
+  // Nothing to do here for madflight, delay() yields to Idle Task for clearer CPU usage statistics
+  delay(10);
 }
 
 //========================================================================================================================//
 //                                                   IMU UPDATE LOOP                                                      //
 //========================================================================================================================//
 
-//This is the __MAIN__ part of this program. It is called when new IMU data is available, and runs as high priority FreeRTOS task.
+// This is the __MAIN__ part of this program. It is called from the IMU FreeRTOS task when new IMU data is available.
 void imu_loop() {
-  //Blink LED
+  // Blink LED
   led_Blink();
 
-  //Sensor fusion: update ahr.roll, ahr.pitch, and ahr.yaw angle estimates (degrees) from IMU data
+  // Sensor fusion: update ahr.roll, ahr.pitch, and ahr.yaw angle estimates (degrees) from IMU data
   ahr.update(); 
 
-  //Get radio commands - Note: don't do this in loop() because loop() is a lower priority task than imu_loop(), so in worst case loop() will not get any processor time.
-  rcl.update();
+  // Update flight mode
   if(rcl.connected() && veh.setFlightmode( rcl_to_flightmode_map[rcl.flightmode] )) { //map rcl.flightmode (0 to 5) to vehicle flightmode
     Serial.printf("Flightmode:%s\n",veh.flightmode_name());
   }
@@ -189,8 +162,6 @@ void imu_loop() {
 
   //Actuator mixing
   out_Mixer(); //Mixes PID outputs and sends command pulses to the motors, if mot.arm == true
-
-  //bbx.log_imu(); //uncomment for full speed black box logging of IMU data, but memory will fill up quickly...
 }
 
 //========================================================================================================================

diff --git a/examples/20.Plane/main.cpp b/examples/20.Plane/main.cpp
@@ -70,7 +70,7 @@ Blink interval longer than 1 second    imu_loop() is taking too much time
 Fast blinking                          Something is wrong, connect USB serial for info
 
 MIT license
-Copyright (c) 2024-2025 https://madflight.com
+MIT license - Copyright (c) 2023-2026 https://madflight.com
 ##########################################################################################################################*/
 
 //Vehicle specific madflight configuration
@@ -153,21 +153,8 @@ void setup() {
 //========================================================================================================================//
 
 void loop() {
-  //update all I2C sensors
-  if(bat.update()) bbx.log_bat(); //update battery, and log if battery was updated. 
-  if(bar.update()) bbx.log_bar(); //log if pressure updated
-  mag.update();
-
-  if(gps.update()) {bbx.log_gps(); bbx.log_att();} //update gps (and log GPS and ATT for plot.ardupilot.org visualization)
-
-  //logging
-  static uint32_t log_ts = 0;
-  if(millis() - log_ts > 100) {
-    log_ts = millis();
-    bbx.log_sys();
-  }
-
-  cli.update(); //process CLI commands
+  // Nothing to do here for madflight, delay() yields to Idle Task for clearer CPU usage statistics
+  delay(10);
 }
 
 //========================================================================================================================//
@@ -182,8 +169,7 @@ void imu_loop() {
   //Sensor fusion: update ahr.roll, ahr.pitch, and ahr.yaw angle estimates (degrees) from IMU data
   ahr.update(); 
 
-  //Get radio commands - Note: don't do this in loop() because loop() is a lower priority task than imu_loop(), so in worst case loop() will not get any processor time.
-  rcl.update();
+  // Update flight mode.
   veh.setFlightmode( rcin_to_flightmode_map[rcl.flightmode] ); //map rcl.flightmode (0 to 5) to vehicle flightmode
 
   //PID Controller
@@ -203,8 +189,6 @@ void imu_loop() {
 
   //Actuator mixing
   out_Mixer(); //Mixes PID outputs and sends command pulses to the motors, if mot.arm == true
-
-  //bbx.log_imu(); //full speed black box logging of IMU data, memory fills up quickly...
 }
 
 //========================================================================================================================

diff --git a/examples/90.RTOS_HelloWorld_Experimental/90.RTOS_HelloWorld_Experimental.ino b/examples/90.RTOS_HelloWorld_Experimental/90.RTOS_HelloWorld_Experimental.ino
diff --git a/examples/90.RTOS_HelloWorld_Experimental/madflight_config.h b/examples/90.RTOS_HelloWorld_Experimental/madflight_config.h