fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 05:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

logger: update watchdog

Browse Source 
- reduce boost priority to PX4_WQ_HP_BASE - 6
- add cli command 'trigger_watchdog' to manually trigger watchdog
- add perf counters when triggering watchdog
- reduce top measurement to 300ms
- restore priorities after 1.5s

There are precautions in case the SD card code itself has a busy-loop.
This commit is contained in:
Beat Küng
2023-02-21 11:32:30 -05:00
committed by Daniel Agar
parent 015ba62727
commit e4cef9f303
5 changed files with 168 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/common/include/px4_platform_common/tasks.h
+7
View File
@@ -124,6 +124,13 @@ typedef struct {
// wait for the sensor hub if its data is coming from it.
#define SCHED_PRIORITY_ESTIMATOR (PX4_WQ_HP_BASE - 5)
// Logger watchdog priority, triggered when a task busy-loops (and
// restored after a short time).
// The priority is a trade-off between:
// - ability to capture any busy-looping task below this priority
// - not having a negative impact on the system itself
#define SCHED_PRIORITY_LOG_WATCHDOG (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