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sensors/vehicle_imu: initially schedule conservatively

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- this lowers the load immediately at boot while still allowing each VehicleIMU instance to properly measure the actual accel/gyro data rates
 - for lockstep builds this is ignored and VehicleIMU initially runs with every new sensor_accel/sensor_gyro publication
This commit is contained in:
Daniel Agar
2020-07-20 10:05:11 -04:00
committed by GitHub
parent ed7732eaec
commit 2adc23fd97
1 changed files with 9 additions and 1 deletions
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src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+9 -1
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@@ -55,11 +55,19 @@ VehicleIMU::VehicleIMU(uint8_t accel_index, uint8_t gyro_index) :
_accel_integrator.set_reset_interval(configured_interval_us);
_accel_integrator.set_reset_samples(sensor_accel_s::ORB_QUEUE_LENGTH);
_sensor_accel_sub.set_required_updates(1);
_gyro_integrator.set_reset_interval(configured_interval_us);
_gyro_integrator.set_reset_samples(sensor_gyro_s::ORB_QUEUE_LENGTH);
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
// currently with lockstep every raw sample needs a corresponding vehicle_imu publication
_sensor_accel_sub.set_required_updates(1);
_sensor_gyro_sub.set_required_updates(1);
#else
// schedule conservatively until the actual accel & gyro rates are known
_sensor_accel_sub.set_required_updates(sensor_accel_s::ORB_QUEUE_LENGTH / 2);
_sensor_gyro_sub.set_required_updates(sensor_gyro_s::ORB_QUEUE_LENGTH / 2);
#endif
// advertise immediately to ensure consistent ordering
_vehicle_imu_pub.advertise();