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Increased priority of MAVLink receiver thread

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Lorenz Meier
2012-10-17 10:38:23 +02:00
parent 32e586d4b7
commit 5d3d17d025
3 changed files with 7 additions and 2 deletions
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apps/mavlink/mavlink.c
+1 -1
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@@ -1,4 +1,4 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch> * Author: @author Lorenz Meier <lm@inf.ethz.ch>
apps/mavlink/mavlink_receiver.c
+5
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@@ -487,6 +487,11 @@ receive_start(int uart)
{ {
pthread_attr_t receiveloop_attr; pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr); pthread_attr_init(&receiveloop_attr);
struct sched_param param;
param.sched_priority = SCHED_PRIORITY_MAX - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2048); pthread_attr_setstacksize(&receiveloop_attr, 2048);
pthread_t thread; pthread_t thread;
apps/multirotor_att_control/multirotor_attitude_control.c
+1 -1
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@@ -248,7 +248,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
att->roll, att->rollspeed, deltaT)*1/10.0f; att->roll, att->rollspeed, deltaT)*1/10.0f;
/* control yaw rate */ /* control yaw rate */
//float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f; //float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f;
rates_sp->yaw= deltaT*p.yaw_p*atan2f(sinf(att->yaw-att_sp->yaw_body),cos(att->yaw-att_sp->yaw_body)); rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body),cos(att->yaw - att_sp->yaw_body));