fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-31 08:31:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4_tasks: reduce POSITION_CONTROL priority

Browse Source 
* this is to prevent the loss of any sensor data or estimator time slip in the event of a position controller or flight task overrun
This commit is contained in:
Daniel Agar
2019-09-18 09:55:06 -04:00
committed by GitHub
parent 494f35d5f4
commit 78bf12f0db
1 changed files with 11 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/px4_tasks.h
+11 -11
View File
@@ -101,28 +101,22 @@ typedef struct {
#endif #endif
// PX4 work queue starting high priority // PX4 work queue starting high priority
#define PX4_WQ_HP_BASE (SCHED_PRIORITY_MAX - 11) #define PX4_WQ_HP_BASE (SCHED_PRIORITY_MAX - 12)
// Fast drivers - they need to run as quickly as possible to minimize control // Fast drivers - they need to run as quickly as possible to minimize control
// latency. // latency.
#define SCHED_PRIORITY_FAST_DRIVER (SCHED_PRIORITY_MAX - 0) #define SCHED_PRIORITY_FAST_DRIVER (SCHED_PRIORITY_MAX - 0)
// Actuator outputs should run as soon as the rate controller publishes
// the actuator controls topic
#define SCHED_PRIORITY_ACTUATOR_OUTPUTS (PX4_WQ_HP_BASE - 3)
// Attitude controllers typically are in a blocking wait on driver data // 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 // they should be the first to run on an update, using the current sensor
// data and the *previous* attitude reference from the position controller // data and the *previous* attitude reference from the position controller
// which typically runs at a slower rate // which typically runs at a slower rate
#define SCHED_PRIORITY_ATTITUDE_CONTROL (PX4_WQ_HP_BASE - 4) #define SCHED_PRIORITY_ATTITUDE_CONTROL (PX4_WQ_HP_BASE - 4)
// Actuator outputs should run as soon as the rate controller publishes
// the actuator controls topic
#define SCHED_PRIORITY_ACTUATOR_OUTPUTS (PX4_WQ_HP_BASE - 3)
// 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 (PX4_WQ_HP_BASE - 5)
// Estimators should run after the attitude controller but before anything // Estimators should run after the attitude controller but before anything
// else in the system. They wait on sensor data which is either coming // 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 // from the sensor hub or from a driver. Keeping this class at a higher
@@ -135,6 +129,12 @@ typedef struct {
// complex downstream consumers // complex downstream consumers
#define SCHED_PRIORITY_SENSOR_HUB (PX4_WQ_HP_BASE - 6) #define SCHED_PRIORITY_SENSOR_HUB (PX4_WQ_HP_BASE - 6)
// 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 (PX4_WQ_HP_BASE - 7)
// The log capture (which stores log data into RAM) should run faster // The log capture (which stores log data into RAM) should run faster
// than other components, but should not run before the control pipeline // than other components, but should not run before the control pipeline
#define SCHED_PRIORITY_LOG_CAPTURE (PX4_WQ_HP_BASE - 10) #define SCHED_PRIORITY_LOG_CAPTURE (PX4_WQ_HP_BASE - 10)