VL53L1X: Reduce CPU usage #21787
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VL53L1X: Reduce CPU usage #21787
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
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That seems a bit low. If nothing else you could schedule at 2xODR (output data rate) to shave off some latency. |
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
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dagar
reviewed
Jul 2, 2023
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Arguably the real problem is that VL53L1X_DELAY set to 20 was intended to be milliseconds (ie 50 Hz), but was actually in microseconds (50,000 Hz). Changing it to actually run at 50 Hz sounds appropriate. |
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
dagar
approved these changes
Jul 2, 2023
antbre
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to BioMorphic-Intelligence-Lab/PX4-Autopilot
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this pull request
Sep 14, 2023
* should be 50 Hz instead of 50,000 Hz Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/vl53l1x-lidar-running-at-1hz-when-docs-say-it-should-be-50hz/37612/4 |
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The VL53L1X sensor was updating at a very high rate and taking up considerable CPU resources. The realistic update rate in long range mode (4 meters) is 200ms. The sensor should only be run at 5hz in this mode, instead it was running at a much higher update rate.