fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 06:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Intrusive changes made for UAVCAN profiling. Will be reverted in the next commit (this one is needed to keep the changes in history)

Browse Source
This commit is contained in:
Pavel Kirienko
2015-01-21 14:54:23 +01:00
committed by Lorenz Meier
parent 543cb23128
commit 6bbacc4271
4 changed files with 20 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uavcan/actuators/esc.cpp
+5 -5
View File
@@ -98,11 +98,11 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
/*
* Rate limiting - we don't want to congest the bus
*/
const auto timestamp = _node.getMonotonicTime();
if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
return;
}
_prev_cmd_pub = timestamp;
// const auto timestamp = _node.getMonotonicTime();
// if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
// return;
// }
// _prev_cmd_pub = timestamp;
/*
* Fill the command message
src/modules/uavcan/uavcan_main.cpp
+10
View File
@@ -357,6 +357,16 @@ int UavcanNode::run()
_actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub);
}
_esc_controller.arm_all_escs(true);
while (true) {
for (int i = 0; i < 1000; i++) {
node_spin_once();
_outputs.noutputs = 8;
_esc_controller.update_outputs(_outputs.output, _outputs.noutputs);
}
::usleep(1000);
}
while (!_task_should_exit) {
// update actuator controls subscriptions if needed
if (_groups_subscribed != _groups_required) {