fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 08:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

vmount: poll only on active input

Browse Source 
To reduce latency of the output update when mode is set to auto.
This commit is contained in:
Beat Küng
2017-04-19 16:59:48 +02:00
parent 9ed21afd59
commit c20ff1737c
1 changed files with 5 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/vmount/vmount.cpp
+5 -3
View File
@@ -198,7 +198,7 @@ static int vmount_thread_main(int argc, char *argv[])
ControlData *control_data = nullptr;
g_thread_data = &thread_data;
int last_active = -1;
int last_active = 0;
while (!thread_should_exit) {
@@ -301,7 +301,8 @@ static int vmount_thread_main(int argc, char *argv[])
bool already_active = (last_active == i);
ControlData *control_data_to_check = nullptr;
int ret = thread_data.input_objs[i]->update(50, &control_data_to_check, already_active);
unsigned int poll_timeout = already_active ? 50 : 0; // poll only on active input to reduce latency
int ret = thread_data.input_objs[i]->update(poll_timeout, &control_data_to_check, already_active);
if (ret) {
PX4_ERR("failed to read input %i (ret: %i)", i, ret);
@@ -351,9 +352,10 @@ static int vmount_thread_main(int argc, char *argv[])
thread_data.input_objs[i] = nullptr;
}
}
thread_data.input_objs_len = 0;
last_active = -1;
last_active = 0;
if (thread_data.output_obj) {
delete (thread_data.output_obj);