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Enables 20Hz backup scheduling for ControlAllocator

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This commit is contained in:
Charles Cross 2022-02-22 12:52:17 -08:00 committed by Beat Küng
parent b0352135bb
commit aecfbef128
2 changed files with 5 additions and 2 deletions
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5
src/modules/control_allocator/ControlAllocator.cpp
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@ -51,7 +51,7 @@ using namespace time_literals;
ControlAllocator::ControlAllocator() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
for (int i = 0; i < MAX_NUM_MOTORS; ++i) {
@ -285,6 +285,9 @@ ControlAllocator::Run()
perf_begin(_loop_perf);
// Push backup schedule
ScheduleDelayed(50_ms);
// Check if parameters have changed
if (_parameter_update_sub.updated() && !_armed) {
// clear update

2
src/modules/control_allocator/ControlAllocator.hpp
View File

@ -74,7 +74,7 @@
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_status.h>
class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::WorkItem
class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
static constexpr int NUM_ACTUATORS = ControlAllocation::NUM_ACTUATORS;