mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 02:23:34 +08:00
Ramon Roche
49e5550b94
Remove mavlink_module_mutex from forward_message() to eliminate per-message lock overhead in the forwarding path. The mutex is unnecessary because: - Instances can only be destroyed via destroy_all_instances(), which stops all threads before modifying the array - Pointer reads from mavlink_module_instances[] are naturally atomic on aligned architectures (ARM, x86) - pass_message() has its own per-instance _message_buffer_mutex Benchmark results (SITL SIH, 2 connections, wall-clock timing): 200 Hz (400 msg/s): avg 648 ns -> 563 ns (-13%) 500 Hz (1000 msg/s): avg 469 ns -> 407 ns (-13%) Mutex lock section: avg 327 ns -> 262 ns (-20%) Benchmark gist: https://gist.github.com/mrpollo/167d4ec7436fb773bf193be6c2800639 Also includes a MAVSDK C++ traffic generator tool for reproducing the benchmark. Signed-off-by: Ramon Roche <mrpollo@gmail.com>