fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Properly document scheduling priorities

Browse Source
This commit is contained in:
Lorenz Meier 2017-07-09 21:36:03 +02:00
parent 501cec2469
commit 494f7e4efb
1 changed files with 43 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

47
src/modules/systemlib/scheduling_priorities.h
View File

@ -35,18 +35,57 @@
#include <px4_tasks.h>
/* SCHED_PRIORITY_MAX */
/**
* @file scheduling_priorities.h
*
* Default schedulign priorities for standard system components
*/
// SCHED_PRIORITY_MAX
// Fast drivers - they need to run as quickly as possible to minimize control
// latency.
#define SCHED_PRIORITY_FAST_DRIVER (SCHED_PRIORITY_MAX - 0)
// Attitude controllers typically are in a blocking wait on driver data
// they should be the first to run on an update, using the current sensor
// data and the *previous* attitude reference from the position controller
// which typically runs at a slower rate
#define SCHED_PRIORITY_ATTITUDE_CONTROL (SCHED_PRIORITY_MAX - 4)
// Actuator outputs should run before right after the attitude controller
// updated
#define SCHED_PRIORITY_ACTUATOR_OUTPUTS (SCHED_PRIORITY_MAX - 4)
// Position controllers typically are in a blocking wait on estimator data
// so when new sensor data is available they will run last. Keeping them
// on a high priority ensures that they are the first process to be run
// when the estimator updates.
#define SCHED_PRIORITY_POSITION_CONTROL (SCHED_PRIORITY_MAX - 5)
// Estimators should run after the attitude controller but before anything
// else in the system. They wait on sensor data which is either coming
// from the sensor hub or from a driver. Keeping this class at a higher
// priority ensures that the estimator runs first if it can, but will
// wait for the sensor hub if its data is coming from it.
#define SCHED_PRIORITY_ESTIMATOR (SCHED_PRIORITY_MAX - 5)
// The sensor hub conditions sensor data. It is not the fastest component
// in the controller chain, but provides easy-to-use data to the more
// complex downstream consumers
#define SCHED_PRIORITY_SENSOR_HUB (SCHED_PRIORITY_MAX - 6)
// The log capture (which stores log data into RAM) should run faster
// than other components, but should not run before the control pipeline
#define SCHED_PRIORITY_LOG_CAPTURE (SCHED_PRIORITY_MAX - 10)
#define SCHED_PRIORITY_ACTUATOR_OUTPUTS (SCHED_PRIORITY_MAX - 15)
#define SCHED_PRIORITY_POSITION_CONTROL (SCHED_PRIORITY_MAX - 25)
// Slow drivers should run at a rate where they do not impact the overall
// system execution
#define SCHED_PRIORITY_SLOW_DRIVER (SCHED_PRIORITY_MAX - 35)
// The navigation system needs to execute regularly but has no realtime needs
#define SCHED_PRIORITY_NAVIGATION (SCHED_PRIORITY_DEFAULT + 5)
/* SCHED_PRIORITY_DEFAULT */
// SCHED_PRIORITY_DEFAULT
#define SCHED_PRIORITY_LOG_WRITER (SCHED_PRIORITY_DEFAULT - 10)
#define SCHED_PRIORITY_PARAMS (SCHED_PRIORITY_DEFAULT - 15)
/* SCHED_PRIORITY_IDLE */