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move mc_att_control to new wq:attitude_ctrl #14758

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Apr 28, 2020
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move mc_att_control to new wq:attitude_ctrl #14758

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33 changes: 17 additions & 16 deletions platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
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Expand Up @@ -65,22 +65,23 @@ static constexpr wq_config_t I2C3{"wq:I2C3", 1472, -11};
static constexpr wq_config_t I2C4{"wq:I2C4", 1472, -12};

// PX4 att/pos controllers, highest priority after sensors.
static constexpr wq_config_t att_pos_ctrl{"wq:att_pos_ctrl", 7200, -13};

static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -14};

static constexpr wq_config_t uavcan{"wq:uavcan", 3000, -15};

static constexpr wq_config_t UART0{"wq:UART0", 1400, -16};
static constexpr wq_config_t UART1{"wq:UART1", 1400, -17};
static constexpr wq_config_t UART2{"wq:UART2", 1400, -18};
static constexpr wq_config_t UART3{"wq:UART3", 1400, -19};
static constexpr wq_config_t UART4{"wq:UART4", 1400, -20};
static constexpr wq_config_t UART5{"wq:UART5", 1400, -21};
static constexpr wq_config_t UART6{"wq:UART6", 1400, -22};
static constexpr wq_config_t UART7{"wq:UART7", 1400, -23};
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_controllers{"wq:navigation_and_controllers", 7200, -14};

static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -15};

static constexpr wq_config_t uavcan{"wq:uavcan", 3000, -16};

static constexpr wq_config_t UART0{"wq:UART0", 1400, -17};
static constexpr wq_config_t UART1{"wq:UART1", 1400, -18};
static constexpr wq_config_t UART2{"wq:UART2", 1400, -19};
static constexpr wq_config_t UART3{"wq:UART3", 1400, -20};
static constexpr wq_config_t UART4{"wq:UART4", 1400, -21};
static constexpr wq_config_t UART5{"wq:UART5", 1400, -22};
static constexpr wq_config_t UART6{"wq:UART6", 1400, -23};
static constexpr wq_config_t UART7{"wq:UART7", 1400, -24};
static constexpr wq_config_t UART8{"wq:UART8", 1400, -25};
static constexpr wq_config_t UART_UNKNOWN{"wq:UART_UNKNOWN", 1400, -26};

static constexpr wq_config_t lp_default{"wq:lp_default", 1700, -50};

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2 changes: 1 addition & 1 deletion platforms/common/include/px4_platform_common/tasks.h
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Expand Up @@ -101,7 +101,7 @@ typedef struct {
#endif

// PX4 work queue starting high priority
#define PX4_WQ_HP_BASE (SCHED_PRIORITY_MAX - 12)
#define PX4_WQ_HP_BASE (SCHED_PRIORITY_MAX - 15)

// Fast drivers - they need to run as quickly as possible to minimize control
// latency.
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2 changes: 1 addition & 1 deletion src/modules/airspeed_selector/airspeed_selector_main.cpp
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Expand Up @@ -176,7 +176,7 @@ class AirspeedModule : public ModuleBase<AirspeedModule>, public ModuleParams,

AirspeedModule::AirspeedModule():
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers)
{
// initialise parameters
update_params();
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2 changes: 1 addition & 1 deletion src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
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Expand Up @@ -166,7 +166,7 @@ class AttitudeEstimatorQ : public ModuleBase<AttitudeEstimatorQ>, public ModuleP

AttitudeEstimatorQ::AttitudeEstimatorQ() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers)
{
_vel_prev.zero();
_pos_acc.zero();
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2 changes: 1 addition & 1 deletion src/modules/ekf2/ekf2_main.cpp
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Expand Up @@ -542,7 +542,7 @@ class Ekf2 final : public ModuleBase<Ekf2>, public ModuleParams, public px4::Sch

Ekf2::Ekf2(bool replay_mode):
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
_replay_mode(replay_mode),
_ekf_update_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": update")),
_params(_ekf.getParamHandle()),
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2 changes: 1 addition & 1 deletion src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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Expand Up @@ -42,7 +42,7 @@ using math::radians;

FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
WorkItem(MODULE_NAME, px4::wq_configurations::attitude_ctrl),
_actuators_0_pub(vtol ? ORB_ID(actuator_controls_virtual_fw) : ORB_ID(actuator_controls_0)),
_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
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2 changes: 1 addition & 1 deletion src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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Expand Up @@ -37,7 +37,7 @@

FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
_launchDetector(this),
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2 changes: 1 addition & 1 deletion src/modules/land_detector/LandDetector.cpp
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Expand Up @@ -47,7 +47,7 @@ namespace land_detector

LandDetector::LandDetector() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers)
{}

LandDetector::~LandDetector()
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2 changes: 1 addition & 1 deletion src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
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Expand Up @@ -19,7 +19,7 @@ static const char *msg_label = "[lpe] "; // rate of land detector correction

BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),

// this block has no parent, and has name LPE
SuperBlock(nullptr, "LPE"),
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2 changes: 1 addition & 1 deletion src/modules/mc_att_control/mc_att_control_main.cpp
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Expand Up @@ -53,7 +53,7 @@ using namespace matrix;

MulticopterAttitudeControl::MulticopterAttitudeControl(bool vtol) :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
WorkItem(MODULE_NAME, px4::wq_configurations::attitude_ctrl),
_vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
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2 changes: 1 addition & 1 deletion src/modules/mc_pos_control/mc_pos_control_main.cpp
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Expand Up @@ -284,7 +284,7 @@ class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>
MulticopterPositionControl::MulticopterPositionControl(bool vtol) :
SuperBlock(nullptr, "MPC"),
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
_vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
_vel_x_deriv(this, "VELD"),
_vel_y_deriv(this, "VELD"),
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2 changes: 1 addition & 1 deletion src/modules/sensors/sensors.cpp
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Expand Up @@ -199,7 +199,7 @@ class Sensors : public ModuleBase<Sensors>, public ModuleParams, public px4::Sch

Sensors::Sensors(bool hil_enabled) :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
_hil_enabled(hil_enabled),
_loop_perf(perf_alloc(PC_ELAPSED, "sensors")),
_voted_sensors_update(_parameters, hil_enabled)
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2 changes: 1 addition & 1 deletion src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
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Expand Up @@ -43,7 +43,7 @@ namespace sensors

VehicleAcceleration::VehicleAcceleration() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
_corrections(this, SensorCorrections::SensorType::Accelerometer)
{
_lp_filter.set_cutoff_frequency(kInitialRateHz, _param_imu_accel_cutoff.get());
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2 changes: 1 addition & 1 deletion src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
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Expand Up @@ -43,7 +43,7 @@ static constexpr uint32_t SENSOR_TIMEOUT{300_ms};

VehicleAirData::VehicleAirData() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers)
{
_voter.set_timeout(SENSOR_TIMEOUT);
}
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2 changes: 1 addition & 1 deletion src/modules/sensors/vehicle_imu/VehicleIMU.cpp
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Expand Up @@ -43,7 +43,7 @@ namespace sensors

VehicleIMU::VehicleIMU(uint8_t accel_index, uint8_t gyro_index) :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers),
_sensor_accel_integrated_sub(this, ORB_ID(sensor_accel_integrated), accel_index),
_sensor_gyro_integrated_sub(this, ORB_ID(sensor_gyro_integrated), gyro_index),
_accel_corrections(this, SensorCorrections::SensorType::Accelerometer),
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