vtol_att_control: limit excessive scheduling #15383
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dagar
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xdwgood
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Jul 21, 2020
| @@ -342,6 +343,19 @@ VtolAttitudeControl::Run() | |||
| return; | |||
| } | |||
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| const hrt_abstime now = hrt_absolute_time(); | |||
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Why not put it inside?
#if !defined(ENABLE_LOCKSTEP_SCHEDULER)
const hrt_abstime now = hrt_absolute_time();
// prevent excessive scheduling (> 500 Hz)
if (now - _last_run_timestamp < 2_ms) {
return;
}
_last_run_timestamp = now;
#endif // !ENABLE_LOCKSTEP_SCHEDULER
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No real reason, I thought the timestamp might be useful later and didn't want to put more ifdefs in the header.
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Merging this as a precaution for now, but I'd like to get rid of it eventually. |
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This is to prevent
vtol_att_controlrunning at absurdly high rates (kilohertz) from every single actuator controls publication from both the multicopter and fixed wing controllers. I don't really like this solution, but it works for now until there are larger VTOL architectural changes in place.It's not really an issue if
IMU_GYRO_RATEMAXis set appropriately for these platforms, but currently it's still possible to slip through with the defaults intended for a small multicopter.