uavcan: move to work queue and use MixingOutput

mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 06:21:36 +08:00

Main UAVCAN protocol handling and ESC updates run on the same thread/wq as
before. There are 2 WorkItems for separate scheduling of the 2, so that
ESC updates run in sync with actuator_control updates. UAVCAN is scheduled
at a fixed rate of 3ms (previously the poll timeout) and on each UAVCAN
bus event.
This leads to roughly the same behavior as before. CPU & RAM usage are
pretty much the same (tested on Pixhawk 4).

Testing done: Motors still work (with feedback), param changes and a
UAVCAN optical flow sensor.

This commit is contained in:

Beat Küng

2019-11-07 10:40:03 +01:00

parent b7a480b45b

commit 5dff065ec5

17 changed files with 354 additions and 908 deletions

									
										src/drivers/uavcan/CMakeLists.txt
									
		+2
		
												View File
												
				@@ -129,6 +129,8 @@ px4_add_module(

						px4_uavcan_dsdlc

						mixer

						mixer_module

						output_limit

						version

						git_uavcan