fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 14:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Raft active state extension removed

Browse Source
This commit is contained in:
Pavel Kirienko
2015-05-26 20:04:59 +03:00
parent 388c023168
commit 2231b00637
6 changed files with 87 additions and 188 deletions
Download Patch File Download Diff File Expand all files Collapse all files
dsdl/uavcan/protocol/dynamic_node_id/server/220.AppendEntries.uavcan
+13 -4
View File
@@ -3,16 +3,25 @@
# Please refer to the specification for details.
#
uint16 DEFAULT_REQUEST_TIMEOUT_MS = 200
uint16 DEFAULT_BASE_ELECTION_TIMEOUT_MS = 1600 # request timeout * (max cluster size - 1) * 2 requests
#
# Given min election timeout and cluster size, the maximum request interval can be derived as follows:
# max request interval = (min election timeout) / 2 requests / (cluster size - 1)
# Obviously, request interval can be lower than that if needed, but not higher.
#
# Real timeout is randomized in the range (MIN, MAX].
#
uint16 MIN_ELECTION_TIMEOUT_MS = 4000
uint16 MAX_ELECTION_TIMEOUT_MS = 6000
uint32 term
uint32 prev_log_term
uint8 prev_log_index
uint8 leader_commit
# Full replication: 127 requests * 0.2 sec interval * 4 followers * 2 trips of next_index value ~ 3.5 min
#
# Worst-case replication time can be computed as:
# worst replication time = (127 log entries) * (2 trips of next_index) * (cluster size - 1) * (request interval)
#
Entry[<=1] entries
---