move mc_att_control to new wq:attitude_ctrl #14758
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dagar
commented
Apr 25, 2020
| static constexpr wq_config_t UART8{"wq:UART8", 1400, -24}; | ||
| static constexpr wq_config_t UART_UNKNOWN{"wq:UART_UNKNOWN", 1400, -25}; | ||
| static constexpr wq_config_t attitude_ctrl{"wq:attitude_ctrl", 1500, -13}; | ||
| static constexpr wq_config_t navigation_and_position_ctrl{"wq:INS", 7200, -14}; |
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@MaEtUgR Could you please review? |
dagar
changed the title
|
Stack size seems correct. px4_fmu-v4_default
px4_fmu-v5_stackcheck (a good worst case)
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MaEtUgR
approved these changes
Apr 27, 2020
Not explicitly as we basically had this already, but we'll keep looking at things very closely as things settle for release. |
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Ekf2 runs on every new IMU message (400 Hz sensor_combined) and publishes a new vehicle_attitude immediately, but only runs the filter update every 10 ms. Having mc_att_control in a separate higher priority thread allows it to run immediately on every vehicle_attitude publication.
We basically had this in the past when mc_att_control was a task, but temporarily lost it in an effort to reduce memory (and save a little bit of cpu). Workqueue threads are cheap and the current mc_att_control is cheaper than it used to be, so we can comfortably afford this.
Background: #9832