mirror of https://github.com/ArduPilot/ardupilot
ArduPlane: allow specification of Scheduler table priorities
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
72f90d84c9
commit
17395f362e
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@ -22,96 +22,116 @@
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#include "Plane.h"
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#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(Plane, &plane, func, rate_hz, max_time_micros)
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#define SCHED_TASK(func, rate_hz, max_time_micros, priority) SCHED_TASK_CLASS(Plane, &plane, func, rate_hz, max_time_micros, priority)
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/*
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scheduler table - all regular tasks are listed here, along with how
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often they should be called (in Hz) and the maximum time
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they are expected to take (in microseconds)
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scheduler table - all regular tasks should be listed here.
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All entries in this table must be ordered by priority.
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This table is interleaved with the table presnet in each of the
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vehicles to determine the order in which tasks are run. Convenience
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methods SCHED_TASK and SCHED_TASK_CLASS are provided to build
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entries in this structure:
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SCHED_TASK arguments:
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- name of static function to call
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- rate (in Hertz) at which the function should be called
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- expected time (in MicroSeconds) that the function should take to run
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- priority (0 through 255, lower number meaning higher priority)
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SCHED_TASK_CLASS arguments:
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- class name of method to be called
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- instance on which to call the method
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- method to call on that instance
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- rate (in Hertz) at which the method should be called
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- expected time (in MicroSeconds) that the method should take to run
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- priority (0 through 255, lower number meaning higher priority)
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*/
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const AP_Scheduler::Task Plane::scheduler_tasks[] = {
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// Units: Hz us
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SCHED_TASK(ahrs_update, 400, 400),
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SCHED_TASK(read_radio, 50, 100),
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SCHED_TASK(check_short_failsafe, 50, 100),
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SCHED_TASK(update_speed_height, 50, 200),
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SCHED_TASK(update_control_mode, 400, 100),
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SCHED_TASK(stabilize, 400, 100),
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SCHED_TASK(set_servos, 400, 100),
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SCHED_TASK(update_throttle_hover, 100, 90),
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SCHED_TASK(read_control_switch, 7, 100),
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SCHED_TASK(update_GPS_50Hz, 50, 300),
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SCHED_TASK(update_GPS_10Hz, 10, 400),
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SCHED_TASK(navigate, 10, 150),
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SCHED_TASK(update_compass, 10, 200),
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SCHED_TASK(read_airspeed, 10, 100),
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SCHED_TASK(update_alt, 10, 200),
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SCHED_TASK(adjust_altitude_target, 10, 200),
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SCHED_TASK(ahrs_update, 400, 400, 3),
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SCHED_TASK(read_radio, 50, 100, 6),
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SCHED_TASK(check_short_failsafe, 50, 100, 9),
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SCHED_TASK(update_speed_height, 50, 200, 12),
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SCHED_TASK(update_control_mode, 400, 100, 15),
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SCHED_TASK(stabilize, 400, 100, 18),
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SCHED_TASK(set_servos, 400, 100, 21),
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SCHED_TASK(update_throttle_hover, 100, 90, 24),
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SCHED_TASK(read_control_switch, 7, 100, 27),
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SCHED_TASK(update_GPS_50Hz, 50, 300, 30),
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SCHED_TASK(update_GPS_10Hz, 10, 400, 33),
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SCHED_TASK(navigate, 10, 150, 36),
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SCHED_TASK(update_compass, 10, 200, 39),
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SCHED_TASK(read_airspeed, 10, 100, 42),
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SCHED_TASK(update_alt, 10, 200, 45),
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SCHED_TASK(adjust_altitude_target, 10, 200, 48),
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#if ADVANCED_FAILSAFE == ENABLED
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SCHED_TASK(afs_fs_check, 10, 100),
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SCHED_TASK(afs_fs_check, 10, 100, 51),
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#endif
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SCHED_TASK(ekf_check, 10, 75),
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SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, update_receive, 300, 500),
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SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, update_send, 300, 750),
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SCHED_TASK_CLASS(AP_ServoRelayEvents, &plane.ServoRelayEvents, update_events, 50, 150),
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SCHED_TASK_CLASS(AP_BattMonitor, &plane.battery, read, 10, 300),
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SCHED_TASK_CLASS(AP_Baro, &plane.barometer, accumulate, 50, 150),
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SCHED_TASK_CLASS(AP_Notify, &plane.notify, update, 50, 300),
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SCHED_TASK(ekf_check, 10, 75, 54),
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SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, update_receive, 300, 500, 57),
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SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, update_send, 300, 750, 60),
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SCHED_TASK_CLASS(AP_ServoRelayEvents, &plane.ServoRelayEvents, update_events, 50, 150, 63),
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SCHED_TASK_CLASS(AP_BattMonitor, &plane.battery, read, 10, 300, 66),
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SCHED_TASK_CLASS(AP_Baro, &plane.barometer, accumulate, 50, 150, 69),
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SCHED_TASK_CLASS(AP_Notify, &plane.notify, update, 50, 300, 72),
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#if AC_FENCE == ENABLED
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SCHED_TASK_CLASS(AC_Fence, &plane.fence, update, 10, 100),
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SCHED_TASK_CLASS(AC_Fence, &plane.fence, update, 10, 100, 75),
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#endif
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SCHED_TASK(read_rangefinder, 50, 100),
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SCHED_TASK_CLASS(AP_ICEngine, &plane.g2.ice_control, update, 10, 100),
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SCHED_TASK_CLASS(Compass, &plane.compass, cal_update, 50, 50),
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SCHED_TASK(read_rangefinder, 50, 100, 78),
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SCHED_TASK_CLASS(AP_ICEngine, &plane.g2.ice_control, update, 10, 100, 81),
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SCHED_TASK_CLASS(Compass, &plane.compass, cal_update, 50, 50, 84),
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#if OPTFLOW == ENABLED
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SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update, 50, 50),
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SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update, 50, 50, 87),
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#endif
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SCHED_TASK(one_second_loop, 1, 400),
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SCHED_TASK(three_hz_loop, 3, 75),
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SCHED_TASK(check_long_failsafe, 3, 400),
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SCHED_TASK(rpm_update, 10, 100),
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SCHED_TASK(one_second_loop, 1, 400, 90),
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SCHED_TASK(three_hz_loop, 3, 75, 93),
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SCHED_TASK(check_long_failsafe, 3, 400, 96),
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SCHED_TASK(rpm_update, 10, 100, 99),
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#if AP_AIRSPEED_AUTOCAL_ENABLE
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SCHED_TASK(airspeed_ratio_update, 1, 100),
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SCHED_TASK(airspeed_ratio_update, 1, 100, 102),
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#endif // AP_AIRSPEED_AUTOCAL_ENABLE
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#if HAL_MOUNT_ENABLED
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SCHED_TASK_CLASS(AP_Mount, &plane.camera_mount, update, 50, 100),
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SCHED_TASK_CLASS(AP_Mount, &plane.camera_mount, update, 50, 100, 105),
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#endif // HAL_MOUNT_ENABLED
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#if CAMERA == ENABLED
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SCHED_TASK_CLASS(AP_Camera, &plane.camera, update, 50, 100),
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SCHED_TASK_CLASS(AP_Camera, &plane.camera, update, 50, 100, 108),
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#endif // CAMERA == ENABLED
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SCHED_TASK_CLASS(AP_Scheduler, &plane.scheduler, update_logging, 0.2, 100),
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SCHED_TASK(compass_save, 0.1, 200),
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SCHED_TASK(Log_Write_Fast, 400, 300),
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SCHED_TASK(update_logging1, 25, 300),
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SCHED_TASK(update_logging2, 25, 300),
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SCHED_TASK_CLASS(AP_Scheduler, &plane.scheduler, update_logging, 0.2, 100, 111),
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SCHED_TASK(compass_save, 0.1, 200, 114),
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SCHED_TASK(Log_Write_Fast, 400, 300, 117),
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SCHED_TASK(update_logging1, 25, 300, 120),
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SCHED_TASK(update_logging2, 25, 300, 123),
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#if HAL_SOARING_ENABLED
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SCHED_TASK(update_soaring, 50, 400),
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SCHED_TASK(update_soaring, 50, 400, 126),
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#endif
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SCHED_TASK(parachute_check, 10, 200),
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SCHED_TASK(parachute_check, 10, 200, 129),
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#if AP_TERRAIN_AVAILABLE
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SCHED_TASK_CLASS(AP_Terrain, &plane.terrain, update, 10, 200),
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SCHED_TASK_CLASS(AP_Terrain, &plane.terrain, update, 10, 200, 132),
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#endif // AP_TERRAIN_AVAILABLE
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SCHED_TASK(update_is_flying_5Hz, 5, 100),
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SCHED_TASK(update_is_flying_5Hz, 5, 100, 135),
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#if LOGGING_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Logger, &plane.logger, periodic_tasks, 50, 400),
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SCHED_TASK_CLASS(AP_Logger, &plane.logger, periodic_tasks, 50, 400, 138),
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#endif
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SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins, periodic, 50, 50),
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#if HAL_ADSB_ENABLED
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SCHED_TASK(avoidance_adsb_update, 10, 100),
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SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins, periodic, 50, 50, 141),
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#if HAL_ADSB_ENABLED
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SCHED_TASK(avoidance_adsb_update, 10, 100, 144),
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#endif
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SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&plane.g2.rc_channels, read_aux_all, 10, 200),
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SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&plane.g2.rc_channels, read_aux_all, 10, 200, 147),
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#if HAL_BUTTON_ENABLED
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SCHED_TASK_CLASS(AP_Button, &plane.button, update, 5, 100),
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SCHED_TASK_CLASS(AP_Button, &plane.button, update, 5, 100, 150),
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#endif
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#if STATS_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Stats, &plane.g2.stats, update, 1, 100),
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SCHED_TASK_CLASS(AP_Stats, &plane.g2.stats, update, 1, 100, 153),
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#endif
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#if GRIPPER_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75),
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SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75, 156),
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#endif
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#if LANDING_GEAR_ENABLED == ENABLED
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SCHED_TASK(landing_gear_update, 5, 50),
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SCHED_TASK(landing_gear_update, 5, 50, 159),
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#endif
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};
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