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Bump internal sim thread priority. Output warning if sim packets are spaced more than 10 ms apart, giving some hints what is at miss with the system

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Lorenz Meier
2015-12-01 13:02:17 +01:00
parent 8cc54ac661
commit f57eff5433
2 changed files with 4 additions and 4 deletions
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src/modules/simulator/simulator_mavlink.cpp
+3 -3
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@@ -457,7 +457,7 @@ void Simulator::pollForMAVLinkMessages(bool publish)
(void)pthread_attr_getschedparam(&sender_thread_attr, &param);
/* low priority */
param.sched_priority = SCHED_PRIORITY_DEFAULT;
param.sched_priority = SCHED_PRIORITY_DEFAULT + 40;
(void)pthread_attr_setschedparam(&sender_thread_attr, &param);
// setup serial connection to autopilot (used to get manual controls)
@@ -533,11 +533,11 @@ void Simulator::pollForMAVLinkMessages(bool publish)
// wait for new mavlink messages to arrive
while (true) {
pret = ::poll(&fds[0], fd_count, 100);
pret = ::poll(&fds[0], fd_count, 10);
//timed out
if (pret == 0) {
PX4_WARN("mavlink sim timeout for 100 ms");
PX4_WARN("mavlink sim timeout for 10 ms");
continue;
}