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mavlink: HIL fixes, performance optimization

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This commit is contained in:
Anton Babushkin
2014-03-01 19:27:53 +04:00
parent 256cc2b411
commit 6948defdb2
4 changed files with 18 additions and 11 deletions
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ROMFS/px4fmu_common/init.d/rc.usb
+1 -1
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@@ -5,7 +5,7 @@
echo "Starting MAVLink on this USB console"
mavlink start -r 10000 -d /dev/ttyACM0
mavlink start -r 5000 -d /dev/ttyACM0
# Exit shell to make it available to MAVLink
exit
ROMFS/px4fmu_common/init.d/rcS
+1 -1
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@@ -387,7 +387,7 @@ then
if [ $HIL == yes ]
then
sleep 1
set MAVLINK_FLAGS "-d 10000 -d /dev/ttyACM0"
set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0 -m hil"
usleep 5000
else
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
src/modules/mavlink/mavlink_main.cpp
+13 -8
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@@ -90,7 +90,7 @@ static const int ERROR = -1;
#define DEFAULT_DEVICE_NAME "/dev/ttyS1"
#define MAX_DATA_RATE 10000 // max data rate in bytes/s
#define MAIN_LOOP_DELAY 10000 // 100 Hz
#define MAIN_LOOP_DELAY 10000 // 100 Hz @ 1000 bytes/s data rate
static Mavlink *_mavlink_instances = nullptr;
@@ -166,6 +166,7 @@ Mavlink::Mavlink() :
_mavlink_fd(-1),
_task_running(false),
_mavlink_hil_enabled(false),
_main_loop_delay(1000),
_subscriptions(nullptr),
_streams(nullptr),
_mission_pub(-1),
@@ -1723,7 +1724,7 @@ Mavlink::task_main(int argc, char *argv[])
switch (_mode) {
case MODE_OFFBOARD:
configure_stream("SYS_STATUS", 1.0f);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f * rate_mult);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
configure_stream("HIGHRES_IMU", 1.0f * rate_mult);
configure_stream("ATTITUDE", 10.0f * rate_mult);
configure_stream("GPS_RAW_INT", 1.0f * rate_mult);
@@ -1733,14 +1734,15 @@ Mavlink::task_main(int argc, char *argv[])
break;
case MODE_HIL:
/* HIL mode normally runs at high data rate, rate_mult ~ 10 */
configure_stream("SYS_STATUS", 1.0f);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f * rate_mult);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
configure_stream("HIGHRES_IMU", 1.0f * rate_mult);
configure_stream("ATTITUDE", 10.0f * rate_mult);
configure_stream("ATTITUDE", 2.0f * rate_mult);
configure_stream("GPS_RAW_INT", 1.0f * rate_mult);
configure_stream("GLOBAL_POSITION_INT", 5.0f * rate_mult);
configure_stream("LOCAL_POSITION_NED", 5.0f * rate_mult);
configure_stream("HIL_CONTROLS", 20.0f * rate_mult);
configure_stream("GLOBAL_POSITION_INT", 1.0f * rate_mult);
configure_stream("LOCAL_POSITION_NED", 1.0f * rate_mult);
configure_stream("HIL_CONTROLS", 15.0f * rate_mult);
break;
default:
@@ -1753,9 +1755,12 @@ Mavlink::task_main(int argc, char *argv[])
MavlinkRateLimiter slow_rate_limiter(2000.0f / rate_mult);
MavlinkRateLimiter fast_rate_limiter(100.0f / rate_mult);
/* set main loop delay depending on data rate to minimize CPU overhead */
_main_loop_delay = MAIN_LOOP_DELAY / rate_mult;
while (!_task_should_exit) {
/* main loop */
usleep(MAIN_LOOP_DELAY);
usleep(_main_loop_delay);
perf_begin(_loop_perf);
src/modules/mavlink/mavlink_main.h
+3 -1
View File
@@ -196,7 +196,9 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */
/* states */
bool _mavlink_hil_enabled; /**< Hardware in the loop mode */
bool _mavlink_hil_enabled; /**< Hardware In the Loop mode */
unsigned _main_loop_delay; /**< mainloop delay, depends on data rate */
MavlinkOrbSubscription *_subscriptions;
MavlinkStream *_streams;