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vtol_att_control: limit excessive scheduling #15383

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Jul 21, 2020
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vtol_att_control: limit excessive scheduling #15383

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14 changes: 14 additions & 0 deletions src/modules/vtol_att_control/vtol_att_control_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@
#include <uORB/Publication.hpp>

using namespace matrix;
using namespace time_literals;

VtolAttitudeControl::VtolAttitudeControl() :
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
Expand Down Expand Up @@ -342,6 +343,19 @@ VtolAttitudeControl::Run()
return;
}

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.


#if !defined(ENABLE_LOCKSTEP_SCHEDULER)

// prevent excessive scheduling (> 500 Hz)
if (now - _last_run_timestamp < 2_ms) {
return;
}

#endif // !ENABLE_LOCKSTEP_SCHEDULER

_last_run_timestamp = now;

if (!_initialized) {
parameters_update(); // initialize parameter cache

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2 changes: 2 additions & 0 deletions src/modules/vtol_att_control/vtol_att_control_main.h
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Original file line number Diff line number Diff line change
Expand Up @@ -213,6 +213,8 @@ class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public px4::
param_t mpc_land_alt2;
} _params_handles{};

hrt_abstime _last_run_timestamp{0};

/* for multicopters it is usual to have a non-zero idle speed of the engines
* for fixed wings we want to have an idle speed of zero since we do not want
* to waste energy when gliding. */
Expand Down