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HAL_PX4: changed scheduler priorities

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put sensor priority above main sketch, to prevent occasional blocking
for sensor data
This commit is contained in:
Andrew Tridgell 2013-02-20 11:30:54 +11:00
parent 24826c0c74
commit 02c5c3ec4a
2 changed files with 4 additions and 4 deletions
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4
libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
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@ -149,9 +149,9 @@ static int main_loop(int argc, char **argv)
this ensures a tight loop waiting on a lower priority driver
will eventually give up some time for the driver to run. It
will only ever be called if a loop() call runs for more than
1 second
0.1 second
*/
hrt_call_after(&loop_overtime_call, 1000000, (hrt_callout)loop_overtime, NULL);
hrt_call_after(&loop_overtime_call, 100000, (hrt_callout)loop_overtime, NULL);
loop();

4
libraries/AP_HAL_PX4/Scheduler.h
View File

@ -12,8 +12,8 @@
#define PX4_SCHEDULER_MAX_TIMER_PROCS 8
#define APM_MAIN_PRIORITY 200
#define APM_TIMER_PRIORITY 201
#define APM_MAIN_PRIORITY 180
#define APM_TIMER_PRIORITY 181
#define APM_IO_PRIORITY 60
#define APM_OVERTIME_PRIORITY 10
#define APM_STARTUP_PRIORITY 10