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commander: remove low priority thread, run tasks in a worker thread on demand

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- removes race conditions
- removes dependencies on static data & methods
- reduces RAM usage by ~3.8KB
This commit is contained in:
Beat Küng
2020-11-30 11:53:22 -05:00
committed by Daniel Agar
parent 419b336a15
commit 05a3492174
7 changed files with 499 additions and 359 deletions
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src/modules/commander/esc_calibration.cpp
+18 -24
View File
@@ -54,43 +54,39 @@
using namespace time_literals;
int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s *armed)
bool check_battery_disconnected(orb_advert_t *mavlink_log_pub)
{
int return_code = PX4_OK;
int fd = -1;
bool batt_connected = true; // for safety reasons assume battery is connected, will be cleared below if not the case
hrt_abstime timeout_start = 0;
calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "esc");
uORB::SubscriptionData<battery_status_s> batt_sub{ORB_ID(battery_status)};
const battery_status_s &battery = batt_sub.get();
batt_sub.update();
if (battery.timestamp == 0) {
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "battery unavailable");
return_code = PX4_ERROR;
goto Out;
return false;
}
// Make sure battery is disconnected
// battery is not connected if the connected flag is not set and we have a recent battery measurement
batt_sub.update();
if (!battery.connected && (hrt_elapsed_time(&battery.timestamp) < 500_ms)) {
batt_connected = false;
return true;
}
if (batt_connected) {
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again");
return_code = PX4_ERROR;
goto Out;
}
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again");
return false;
}
armed->in_esc_calibration_mode = true;
int do_esc_calibration(orb_advert_t *mavlink_log_pub)
{
int return_code = PX4_OK;
hrt_abstime timeout_start = 0;
calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "esc");
fd = px4_open(PWM_OUTPUT0_DEVICE_PATH, 0);
uORB::SubscriptionData<battery_status_s> batt_sub{ORB_ID(battery_status)};
const battery_status_s &battery = batt_sub.get();
batt_sub.update();
bool batt_connected = battery.connected;
int fd = px4_open(PWM_OUTPUT0_DEVICE_PATH, 0);
if (fd < 0) {
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Can't open PWM device");
@@ -152,7 +148,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s *a
}
}
px4_usleep(50_ms);
px4_usleep(50000);
}
Out:
@@ -173,8 +169,6 @@ Out:
px4_close(fd);
}
armed->in_esc_calibration_mode = false;
if (return_code == PX4_OK) {
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "esc");
}